Control of a hybrid pneumatic/electric motor

Takemura, Fumiaki; Pandian, S.R.; Nagase, Yuichi; Mizutani, H.; Hayakawa, Yasuhiro; Kawamura, Sadao

doi:10.1109/iros.2000.894606

Cited by 18 publications

(18 citation statements)

References 5 publications

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“…Deploying conservation of mass, conservation of energy, and the ideal gas law for each chamber leads to (4) and (5) [20]. In these equations, .…”

Section: Mathematical Modelmentioning

confidence: 99%

“…Since the introduction of the HPEA idea in 1987 [4], different designs have been proposed to develop this type of actuator. They include a combination of a DC motor and a rotary pneumatic motor 2 of 15 in parallel [5], pneumatic muscle actuators (PMA) with a DC motor [2,[6][7][8], pneumatic cylinders with a DC motor [9,10], and a pneumatic cylinder integrated within a linear motor [11,12].…”

Section: Introductionmentioning

confidence: 99%

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Optimal Force Allocation and Position Control of Hybrid Pneumatic–Electric Linear Actuators

Rouzbeh

Bone

2020

Actuators

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Hybrid pneumatic–electric actuators (HPEAs) are redundant actuators that combine the large force, low bandwidth characteristics of pneumatic actuators with the large bandwidth, small force characteristics of electric actuators. It has been shown that HPEAs can provide both accurate position control and high inherent safety, due to their low mechanical impedance, making them a suitable choice for driving the joints of assistive, collaborative, and service robots. If these characteristics are mathematically modeled, input allocation techniques can improve the HPEA’s performance by distributing the required input (force or torque) between the redundant actuators in accordance with each actuator’s advantages and limitations. In this paper, after developing a model for a HPEA-driven system, three novel model-predictive control (MPC) approaches are designed that solve the position tracking and input allocation problem using convex optimization. MPC is utilized since the input allocation can be embedded within the motion controller design as a single optimization problem. A fourth approach based on conventional linear controllers is included as a comparison benchmark. The first MPC approach uses a model that includes the dynamics of the payload and pneumatics; and performs the motion control using a single loop. The latter methods simplify the MPC law by separating the position and pressure controllers. Although the linear controller was the most computationally efficient, it was inferior to the MPC-based controllers in position tracking and force allocation performance. The third MPC-based controller design demonstrated the best position tracking with RMSE of 46%, 20%, and 55% smaller than the other three approaches. It also demonstrated sufficient speed for real-time operation.

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“…Deploying conservation of mass, conservation of energy, and the ideal gas law for each chamber leads to (4) and (5) [20]. In these equations, .…”

Section: Mathematical Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Optimal Force Allocation and Position Control of Hybrid Pneumatic–Electric Linear Actuators

Rouzbeh

Bone

2020

Actuators

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“…Because of the high controllability in electromagnetic motors and the high power per weight ratio in pneumatic motors, there was an attempt to combine both actuators together. A hybrid pneumatic/electric motor was studied in order to use a pneumatic motor as a main actuator and an electric motor as a stabilizer [12]. As a result, high damping perfomlance was improved.…”

Section: Pneumatic Motormentioning

confidence: 99%

The Development of a Pneumatic Stepping Motor Concept for Valve Based Flow Control During Injection Molding

Tantrapiwat

Coulter

2007

Volume 9: Mechanical Systems and Control, Parts A, B, and C

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To develop the control over mold filling during polymer melt manipulation, an alternative way of driving rotary plug valves, which were placed on mold runners, was investigated in this study. During the present investigation, the pneumatic stepping motor concept was explored by designing, fabricating, and testing a specific motor for a target injection molding base application. In order to improve the actuator performance, which is used to drive the valves, a stepping motor driven by a sequence of digital solenoid valves utilizing pressurized air was designed to enhance torque capacity and reduce energy consumption, while maintaining a fixed position for a long period of time. Similar to electromagnetic stepping motors, this pneumatic stepping motor can be driven by a simple switching circuit, which only moves one step for each driving signal without a fading rotation. This mechanism yields an effective system for speed and position control. Although the speed of pressurized air switching is limited by the response time of air solenoid valves that cause a lower rotation output speed, the holding torque and efficiency of this actuator was found to be relatively higher. By using a set of circular pistons aligned so as to actuate on axial wobble gear, the motor produced a very unique motion between the gear and rotor, causing the beneficial characteristics. In this study, the performance of the new motor was tested and compared to a similar size of electromagnetic stepping motor, as well. Thus, this study provides fundamental concepts to develop a suitable actuator for control valves in injection molding at low cost.

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“…Since the introduction of the HPEA idea in 1987 [4], different designs have been proposed to develop this type of actuator. They include a combination of a DC motor and a rotary pneumatic motor in parallel [5], pneumatic muscle actuators (PMA) with a DC motor [2] [6] [7], and pneumatic cylinders with a DC motor [8] [9]. Recently the same concept has been used to develop a hybrid hydraulic-electric actuator for off-road vehicles [10].…”

Section: Introductionmentioning

confidence: 99%

Position Control and Force Allocation Algorithms for Hybrid Pneumatic-Electric Linear Actuators

Rouzbeh¹,

Bone²

2020

International Conference of Control, Dynamic Systems, and Robotics

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It has been shown that hybrid pneumatic electric actuators (HPEAs) can provide both accurate position control and high inherent safety, due to their low mechanical impedance; making them a suitable choice to be used in applications such as collaborative robots. HPEAs are redundant actuators that combine the large force, low bandwidth characteristics of pneumatic actuators with the large bandwidth, small force characteristics of electric actuators. If these characteristics are mathematically modelled, input allocation techniques can improve the HPEA performance by intelligently distributing the required input (force or torque) between the redundant actuators. In this study, after developing a model for a HPEA-driven system, a model-predictive control (MPC) approach is designed that employ this model and solve the position tracking and input allocation problem using convex optimization. Another approach based on conventional linear controllers is included and compared. Although the linear controller was more computationally-efficient, it was inferior to the MPC-based controller in position tracking and force allocation performance. The MPC-based controller with a two-layer structure reduced the position RMSE by 59%, the mean absolute electric actuator force by 36%, and the mean absolute pneumatic actuator force by 24% relative to the linear controller. It can also be computed fast enough for real-time operation.

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Control of a hybrid pneumatic/electric motor

Cited by 18 publications

References 5 publications

Optimal Force Allocation and Position Control of Hybrid Pneumatic–Electric Linear Actuators

Optimal Force Allocation and Position Control of Hybrid Pneumatic–Electric Linear Actuators

The Development of a Pneumatic Stepping Motor Concept for Valve Based Flow Control During Injection Molding

Position Control and Force Allocation Algorithms for Hybrid Pneumatic-Electric Linear Actuators

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