Stable Levitation and Flow Disturbance Suppression for Pneumatic Anti-Vibration Apparatus Using Only Central Pattern Generator

摘要

The authors have pursued the application of Central Pattern Generator (CPG) in order to suppress flow disturbance caused by pressure variation of compressed air supplied to pneumatic anti-vibration apparatus (AVA). CPG has been used to improve performance by implementing it in the control system of walking robot. However, in any relevant documents, CPG was implemented in addition to stabilizing compensators. Meanwhile, this paper shows that the control system using only CPG can realize the stable levitation and the disturbance suppression simultaneously. In addition, the stable levitation by the proposed method is verified based on describing function.