Modelling Dynamic Characteristics of a Pneumatic Servo System
Main Article Content
Abstract
This paper examines dynamic characteristics of a pneumatic servo system and develops a suitable mathematical model for the system. In order to deal with these purposes, an experimental setup of the pneumatic servo system using a double acting pneumatic cylinder and two proportional flow control valves is considered. The operating characteristics such as the piston position, the pressures in the cylinder chambers, and the friction force are measured and analyzed. A mathematical model of the pneumatic servo system is proposed by taking the dead-zone and quickly exhausting characteristics of the valve and a dynamic friction model of the pneumatic cylinder into consideration. The results make clear the dynamic behaviors of the system and show that the proposed system model is appropriate.
Keywords
Pneumatic servo system, pneumatic cylinder, proportional flow control valve, friction model, system modelling
Article Details
References
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[2] J. M. Tressler, T. Clement, H. Kazeroomi, M. Lim, Dynamic behavior of pneumatic systems for lower extremity extenders, Proceedings of the 2002 IEEE International Conference on Robotics& Automation, Washington DC, (2002) 3248-3253.
[3] Y.C. Tsai, A.C. Huang, Multiple-surface sliding controller design for pneumatic servo systems, Mechatronics, 18 (2008) 506–512.
[4] R. Guenther, F.C. Perondi, E.R. DePieri, A.C. Valdiero, Cascade Controlled Pneumatic Positioning System with LuGre Model Based Friction Compensation, J. of the Braz. Soc. of Mech. Sci. & Eng., 28(1) (2006) 48–57.
[5] S. Hodgson, M.Q. Le, M. Tavakoli, M.T. Pham, Improved tracking and switching performance of an electro-pneumatic positioning system, Mechatronics 22 (2012) 1–12.
[6] X.B. Tran, N. Hafizah, H. Yanada, Modeling of dynamic friction behaviors of hydraulic cylinders, Mechatronics, 22 (2012) 65-75.
[7] X.B. Tran, H. Yanada, Dynamic friction behaviors of pneumatic cylinders, Intelligent Control and Automation, 4 (2013) 180-190.
[8] H. Yanada, Y. Sekikawa, Modeling of dynamic behaviors of friction, Mechatronics, 18 (2008) 330-339.
[9] H.B. Armstrong, Control of machines with friction. Springer, Boston, 1991.
[10] H.B. Armstrong, P. Dupont, D.W.C. Canudas, A survey of models, analysis tools and compensation methods for the control of machines with friction, Automatica, 30(7) (1994) 1083-1138.