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In this study, we propose a control algorithm that can estimate gains by a simple method with a double-acting air cylinder and can realize accurate speed control and position control. Specifically, we aimed at quick response and less overshoot by providing PD controller of common bias pressure that can generate passive drag, in addition to the DIP controller capable of controlling disturbance and target tracking without any complicated control system. We made gain estimation by first theoretically estimating the PID gain and then determining the optimum PD gain by actually moving. We tried controlling of a system consisting of one air cylinder, automatic choke valve, and solenoid valve, and found that the overshoot, which was nearly 30% with the PID controller only, was controlled to 4%, while the rise time was less than 200ms almost same when only the PID controller was used.