PID Control for a Pneumatic Servo System
Main Article Content
Abstract
This paper examines the position control ability of a pneumatic cylinder in pneumatic servo system using PID control method. A pneumatic servo system including a pneumatic cylinder and 02 proportional flow control valves is firstly proposed. The system is then modeled by dynamic equations with consideration of the valve characteristics and of friction in the pneumatic cylinder. Proportional-Integral-Derivative controller (PID) is applied to control the cylinder position. Effects of the external load and the source pressure to the control ability of the PID controller are considered. Simulation and experimental results show that the PID controller gives good control performances under different operating conditions of the external load and the air source pressure.
Keywords
Pneumatic servo system, PID control, Pneumatic cylinder
Article Details
References
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[2] Richer E., Hurmuzlu Y., A high performance pneumatic force actuator system: Part I – nonlinear mathematical model, ASME J Dynam Syst Meas Control 122 (2000) 416–25.
[3] Wang J., Wang D.J.D., Moore P.R., Pu J., Modelling study, analysis and robust servocontrol of pneumatic cylinder actuator systems, IEE Proc Control Theory Appl 148 (2001) 35–42.
[4] Paul A.K., Mishra J.K., Radke M.G., Reduced order sliding mode control for pneumatic actuator, IEEE Trans Control Syst Technol 2(3) (1994) 271–6.
[5] Tang J., Walker G., Variable structure control of a pneumatic actuator, ASME J Dynam Syst Meas Control 117 (1995) 88–92.
[6] Surgenor B.W., Vaughan N.D., Continuous sliding mode control of a pneumatic actuator, ASME J Dynam Syst Meas Control 119 (1997) 578–81.
[7] Pandian S.R., Hayakawa Y., Kanazawa Y., Kamoyama Y., Kawamura S., Practical design of a sliding mode controller for pneumatic actuators, ASME J Dynam Syst Meas Control 119 (1997) 66–74.
[8] Acarıman T., Hatipoglu C., A robust nonlinear controller design for a pneumatic actuator, In: Proceedings of American control conference (2001) 4490–5.
[9] Tran X.B., Hafizah N., and Yanada H., Modeling of dynamic friction behaviors of hydraulic cylinders, Mechatronics 22(1) (2012) 65–75.
[10] Tressler J.M., Clement T., Kazerooni H., and Lim M., Dynamic behavior of pneumatic systems for lower extremity extenders, Proceedings of the 2002 IEEE International Conference on Robotics & Automation, Washington DC (2002) 3248–3253.
[11] Gopal, Control Systems: Principles and Design, McGraw Hill India; 4th edition (2009).