Flow disturbance suppression for pneumatic anti-vibration apparatus by central pattern generator using reciprocal inhibition oscillator model

Abstract

Pneumatic anti-vibration apparatus (AVA) has been used in order to suppress vibration from a floor. In this paper, central pattern generator (CPG) composed of reciprocal inhibition oscillator (RIO) model is applied for suppression of flow disturbance caused by pressure fluctuation of compressed air supplied to the pneumatic AVA. Concretely, the disturbance suppression is confirmed by implementing it to the control system of the AVA. In addition, this paper shows that the control system using internal information in CPG can realize the stable levitation and the disturbance suppression simultaneously. In the industry situation, the flow disturbance is not periodic because the consumption flow rate of the compressed air changes. Therefore, the band-pass filter in CPG using RIO model is redesigned to be broadband, and the disturbance can be suppressed without declining performance even when the disturbance period changes. Moreover, this paper illustrates the roles of the sigmoid function and the connection between two neurons in CPG using RIO model. When the sigmoid function is replaced with the proportion function and the saturation function, the influence is verified by experiments.