Servo Pneumatic Position Control Using Fuzzy PID Gain Scheduling
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Published:2004-06-01
Issue:2
Volume:126
Page:376-387
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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:
Situm Z.1, Pavkovic D.1, Novakovic B.1
Affiliation:
1. University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Department of Robotics and Automation of Production Systems, I. Lucica 5, 10000 Zagreb, Croatia
Abstract
In this paper, a design procedure and experimental implementation of a PID controller is presented. The PID controller is tuned according to damping optimum in order to achieve precise position control of a pneumatic servo drive. It is extended by a friction compensation and stabilization algorithm in order to deal with friction effects. In a case of supply pressure variations, more robust control system is needed. It is implemented by extending the proposed PID controller with friction compensator with the gain scheduling algorithm, which is provided by means of fuzzy logic. The effectiveness of proposed control algorithms is experimentally verified on an industrial cylindrical rodless actuator controlled by a proportional valve.
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference19 articles.
1. Bachmann, R. J., and Surgenor, B. W., 1998, “On the Dynamic Performance of a Proportional Pneumatic Positioning System,” 1. Internationales Fluidtechnisches Kolloquium, Aachen, pp. 365–378. 2. Sandoval, D., and Latino, F., 1997, “Servopneumatic Systems Stress Simplicity, Economy for Motion Solutions,” Control Engineering Online, Magazine Articles. 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. Lai, J. Y., Menq, C. H., and Singh, R., 1990, “Accurate Position Control of a Pneumatic Actuator,” ASME J. Dyn. Syst., Meas., Control, 112, pp. 734–739. 5. Mc Donell, B. W., and Bobrow, J. E., 1993, “Adaptive Tracking Control of an Air Powered Robot Actuator,” ASME J. Dyn. Syst., Meas., Control, 115, pp. 427–433.
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