ABSTRACT
A schematic diagram in Fig.l shows th : experimental apparatus of the positioning system with th : pneumatic cylinder which is used in this study. Th: pneumatic cylinder in this system has the diameter of th : piston 50[mm], the stroke 600[mm], and can drive loa I mass about lOO[kg]. The friction force acting on th: pneumatic cylinder is not so large because the load wa; moved with linear bearings. The measurements of th : friction force for the pneumatic cylinder are shown i:t Fig.2, and they are used in the simulation model. Th : controller is composed of a microprocessor an, I interfaces which input or output signals. The signal cf the piston displacement is measured by th: potentiometer, and this signal is converted into th: approximate velocity and acceleration signals through th: OP-amp circuits.
