Control of pneumatically actuated 6-DOF Stewart platform for driving simulator

Andrievsky, Boris; Kazunin, D. V.; Kostygova, D. M.; Kuznetsov, Nikolay V.; Леонов, Г. А.; Lobanov, Pavel; Volkov, Andrey

doi:10.1109/mmar.2014.6957433

Cited by 8 publications

(4 citation statements)

References 19 publications

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“…Generally, the control errors were no smaller than 5%. B Andrievsky et al 12 described the design features of pneumatic platform for driving simulator while using SMC and switching valves. Simulation results of SMC was about 5% and the experimental results of on-off logic control was about 20%.…”

Section: Introductionmentioning

confidence: 99%

Adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic cylinders

Shang

Tao

Meng

2016

Advances in Mechanical Engineering

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Due to the compressibility of air, non-linear characteristics, and parameter uncertainties of pneumatic elements, the position control of a pneumatic cylinder or parallel platform is still very difficult while comparing with the systems driven by electric or hydraulic power. In this article, based on the basic dynamic model and descriptions of thermal processes, a controller integrated with online parameter estimation is proposed to improve the performance of a pneumatic cylinder controlled by a proportional valve. The trajectory tracking error is significantly decreased by applying this method. Moreover, the algorithm is expanded to the problem of posture trajectory tracking for the three-revolute prismatic spherical pneumatic parallel manipulator. Lyapunov's method is used to give the proof of stability of the controller. Using NI-CompactRio, NI-PXI, and Veristand platform as the realistic controller hardware and data interactive environment, the adaptive robust control algorithm is applied to the physical system successfully. Experimental results and data analysis showed that the posture error of the platform could be about 0.5%-0.7% of the desired trajectory amplitude. By integrating this method to the mechatronic system, the pneumatic servo solutions can be much more competitive in the industrial market of position and posture control.

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Section: Introductionmentioning

confidence: 99%

Adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic cylinders

Shang

Tao

Meng

2016

Advances in Mechanical Engineering

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“…The problem of adaptive control of robotic arm on the basis of consecutive compensator method was considered, [10]. Applying developed theory, control algorithms of humanoid robots were designed, [12].…”

Section: Achievementsmentioning

confidence: 99%

Involvement of students and postgraduates into megagrant laboratory under supervision of leading scientist Romeo Ortega at ITMO University

Kremlev

Bazylev

Zimenko

et al. 2016

SHS Web of Conferences

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Abstract. In 2010 the Government of the Russian Federation established particularly large grants aimed to attract world-renowned scientists, including compatriots living abroad, to Russian scientific and educational centres. These grants, known as Megagrants, ensure the creation of research teams that can compete with the leading world laboratories and achieve world-class scientific results. Involvement of young Russian scientists in the projects became one of the main Megagrant features: half of the participants are people under the age of 35 years. Founded as a part of this project in ITMO University the laboratory "Nonlinear Adaptive Control Systems" under Romeo Ortega's leadership is described in the paper. This laboratory was created at the Department of Control Systems and Informatics. The priority of the laboratory is the preparation and formation of a stable team able to conduct advanced research in the field of nonlinear, adaptive and robust control of various technical objects.

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“…However, the pneumatic muscle can bear only one-directional tensile force, which means it cannot be used in heavy load conditions under compression forces. For a manipulator driven by cylinders, which can accept forces from both sides, some work has also been done with different control methods (Grewal et al, 2011;Ramsauer et al, 2012;Pradipta et al, 2013;Andrievsky et al, 2014). The precisions of the platforms driven by pneumatic cylinders in these studies were about 5%-20% and load-sensitive.…”

Section: Introductionmentioning

confidence: 99%

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Tao

Shang

Meng

et al. 2017

J. Zhejiang Univ. - Sci. C

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A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed. All cylinders are controlled by proportional directional valves while the kinematic and dynamic properties of the system are modeled. The method of adaptive robust control is applied to the controller using a back-stepping approach and online parameter estimation. To compensate for the uncertainty and the influence caused by estimations, a fast dynamic compensator is integrated in the controller design. To prevent any influence caused by the load applied to the moving platform changing in a practical working situation, the identification of parameters is taken as the initialization of unknown parameters in the controller, which can improve the adaptability of the algorithm. Using these methods, the response rate of the parameter estimation and control performance were improved significantly. The adverse effects of load and restriction forces were eliminated by the initialization and online estimation. Experiments under different situations illustrated the effectiveness of the adaptive robust controller with parameter initialization, approaching average tracking errors of less than 1%.

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Control of pneumatically actuated 6-DOF Stewart platform for driving simulator

Cited by 8 publications

References 19 publications

Adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic cylinders

Adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic cylinders

Involvement of students and postgraduates into megagrant laboratory under supervision of leading scientist Romeo Ortega at ITMO University

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

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