A High Performance Pneumatic Force Actuator System: Part I—Nonlinear Mathematical Model
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Published:1999-06-23
Issue:3
Volume:122
Page:416-425
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ISSN:0022-0434
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Container-title:Journal of Dynamic Systems, Measurement, and Control
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language:en
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Short-container-title:
Author:
Richer Edmond1, Hurmuzlu Yildirim1
Affiliation:
1. Southern Methodist University, School of Engineering and Applied Science, Mechanical Engineering Department, Dallas, TX 75275
Abstract
In this paper, we developed a detailed mathematical model of dual action pneumatic actuators controlled with proportional spool valves. Effects of nonlinear flow through the valve, air compressibility in cylinder chambers, leakage between chambers, end of stroke inactive volume, and time delay and attenuation in the pneumatic lines were carefully considered. We performed system identification, numerical simulation, and model validation experiments for two types of air cylinders and different connecting tubes length. The mathematical model of the present article is used in a sequel article to develop high performance nonlinear pneumatic force controllers. [S0022-0434(00)00503-7]
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference18 articles.
1. Shearer, J. E.
, 1956, “Study of Pneumatic Process in the Continuous Control of Motion with Compressed Air-I, II,” Trans. ASME, Feb., pp. 233–249. 2. Burrows, C. R., and Webb, C. R., 1966, “Use of the Root Loci in Design of Pneumatic Servo-Motors,” Control, Aug., pp. 423–427. 3. Liu, S., and Bobrow, J. E., 1988, “An Analysis of a Pneumatic Servo System and Its Application to a Computer-Controlled Robot,” ASME J. Dyn. Syst., Meas., Control, 110, pp. 228–235. 4. Bobrow, J. E., and Jabbari, F., 1991, “Adaptive Pneumatic Force Actuation and Position Control,” ASME J. Dyn. Syst., Meas., Control, 113, pp. 267–272. 5. McDonell, B. W., and Bobrow, J. E., 1993, “Adaptive Traking Control of an Air Powered Robot Actuator,” ASME J. Dyn. Syst., Meas., Control, 115, pp. 427–433.
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