The pneumatic actuator has been recently of great concern for the application to Robot motion control, etc. Its performance may remarkably deteriorate due to the variation of the load condition. In this thesis an adaptive scheme which is robust against the change of the load condition is designed for a step response.
In the proposed scheme the PID gains of the controller are adjusted to optimum in accordance with the load inertia identified by the relation among load pressure, position and velocity. The optimal PID gains obtained on the basis of the ITSE criterion are obtained by the experiments. The PWM control technique is employed in driving the two on-off solenoid valves. The experimental results for the proposed adaptive controller show that the performance improved significantly when comparing with the fixed gain PID control system.
