Experimenting and modelling the dynamics of pneumatic actuators controlled by the pulse width modulation (PWM) technique

Messina, Arcangelo; Giannoccaro, Nicola Ivan; Gentile, Angelo

doi:10.1016/j.mechatronics.2005.01.003

Cited by 77 publications

(36 citation statements)

References 13 publications

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“…In this case, precise control is difficult due to the discrete-input nature of the system. Past research has developed solenoid-valve pneumatic systems, which utilize a pulse width modulated (PWM) controller [13], [14], [15], [16]. Using time averaging, a PWM input with a sufficiently high frequency can approximate the continuous input properties of a servovalve [11].…”

Section: Introductionmentioning

confidence: 99%

Improved tracking and switching performance of an electro-pneumatic positioning system

Hodgson

Tavakoli

et al. 2012

Mechatronics

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For robotic systems that use on/off (solenoid) pneumatic actuators, a sliding mode control law for precise position control and low switching (open-close) activity of the valves is presented in this paper. Given a pneumatic actuator with two chambers and four solenoid valves, there are sixteen possible input combinations defined directly from the state of the four on/off valves present in the system; however, only seven of these discrete operating modes are considered both functional and unique. Therefore, we introduce a novel seven-mode sliding controller that minimizes the position tracking error using modes that have both the necessary and sufficient amounts of drive energy and, thus, involve reduced switching activity. An analysis of the closed-loop system stability is carried out. The performance of the proposed control design is experimentally verified on a single pneumatic actuator setup comprising of two chambers with four on/off valves.

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Section: Introductionmentioning

confidence: 99%

Improved tracking and switching performance of an electro-pneumatic positioning system

Hodgson

Tavakoli

et al. 2012

Mechatronics

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“…The static friction in EHAs has to be compensated in order to measure the characteristics. Consequently, friction-compensating methods including the application of dithered signals and pulse-width modulation control have been studied (22) . However, these methods are not suitable for EHAs, as they rely on the response performance of the servo valves.…”

Section: Introductionmentioning

confidence: 99%

Resonance-suppression Control for Electro-hydrostatic Actuator as Two-inertia System

et al. 2017

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Electro-hydrostatic actuators (EHAs) are hydraulic actuators with high power-to-weight ratios that exhibit low energy loss. Thus far, methods for determining the characteristics and parameters of EHAs have not been fully established. Therefore, modeling methods for EHA are in demand. EHAs are driven by servomotors on the motor-side and hydraulic motors on the load-side, and therefore, the actuators are expected to experience sympathetic vibrations. Thus, EHAs can be considered as systems in which two rigid objects are connected to one another with a low-rigidity shaft such as a spring. The occurrence of resonance in EHAs has not yet been discussed because of difficulties with hydraulic systems. One major problem is the large friction in hydraulic motors. We apply a feedback modulator for friction compensation to enable the experimental identification of characteristics. Assuming that EHAs experience two-inertia resonance, the parameters of the motors can be calculated. In addition, vibration-suppression techniques for two-inertia systems can be applied to EHAs. This study proposes the application of a two-inertia model to suppress vibrations in EHAs and verify their dynamic characteristics.

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“…However, it is preferable 1 to design controllers that take into account the open-loop system nonlinearities. PWM controllers have been developed in the past to control the position of solenoid-valve pneumatic actuators [4], [5], [6], [7]. A PWM input with a high switching frequency approximates a continuous input whose magnitude is determined by the PWM duty cycle.…”

Section: Introductionmentioning

confidence: 99%

Dynamical model averaging and PWM based control for pneumatic actuators

Hodgson

Tavakoli

Pham

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-A pneumatic actuator with solenoid valves is a discontinuous-input system because each valve can be either in on or off state. For such an actuator, this paper proposes a sliding-mode control scheme based on an averaged continuousinput equivalent model for the open-loop system. The averaged model is obtained from the nonlinear dynamics of the open-loop discontinuous-input system undergoing pulse-width-modulation (PWM) at the input (i.e., valve open/close action). The PWM duty cycle will be regarded as a continuous input to the proposed averaged model, and thus generated by the proposed sliding-mode controller. By adjusting the PWM duty cycle, the controller switches between seven modes of operation of the open-loop system in order to select the ones with necessary and sufficient amounts of drive energy to achieve position tracking. We will show that this results in reduced position error and valve switching activity for the actuator. The proposed control scheme is experimentally used in the position control of a pneumatic actuator and the results are presented.

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Experimenting and modelling the dynamics of pneumatic actuators controlled by the pulse width modulation (PWM) technique

Cited by 77 publications

References 13 publications

Improved tracking and switching performance of an electro-pneumatic positioning system

Improved tracking and switching performance of an electro-pneumatic positioning system

Resonance-suppression Control for Electro-hydrostatic Actuator as Two-inertia System

Dynamical model averaging and PWM based control for pneumatic actuators

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