Front End Control Schemes for Pneumatic Servo-Driven Modules

Author:

Nagarajan R1,Weston R H1

Affiliation:

1. Department of Engineering Production, University of Technology, Loughborough

Abstract

This paper describes an approach which can be used to improve the dynamic characteristics of pneumatic servo drives. The approach is based on an outer decision loop which modifies the command issued to an existing closed loop drive. This outer loop is designed to generate a set of initial (front end) control sequences at the start of any ‘point-to-point’ move. A learning procedure is also incorporated in the scheme to obtain an optimized set of control parameters which can produce a specified quality of response. The paper describes how the front end control scheme can be implemented in software, to improve the dynamic performance of microprocessor controlled pneumatically actuated robot modules which have been designed at Loughborough University and recently released in the UK market by Martonair Limited. Experimental results are presented which show that the scheme can improve the quality of response in terms of overshoot and positioning time.

Publisher

SAGE Publications

Subject

General Engineering

Reference6 articles.

1. Moore P. R., Weston R. H., Thatcher T. W., Gascoigne J. D. Modular robotic systems. IASTAD Int. Conf. on Robotics and Automation, Lugano, Switzerland, June 1983.

2. Weston R. H., Moore P. R., Thatcher T. W., Miles K. E. Design of a family of modular robots. ICPR Conf., Windsor, Canada, Aug. 1983.

3. Computer Controlled Pneumatic Servo Drives

4. A robust sampled regulator for stable systems with monotone step responses

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1. Application of Front End Control in Time-Delayed Plants;Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering;1994-05

2. Digital Motion Control and Profile Planning for Pneumatic Servos;Journal of Dynamic Systems, Measurement, and Control;1992-12-01

3. Digital servo motion control of air motors;International Journal of Production Research;1991-03

4. A Front end Control Scheme for a Class of Second-Order Plants;Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture;1990-05

5. The use of models in the motion control of pneumatic and electric drives;The International Journal of Advanced Manufacturing Technology;1989-11

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