Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit

Taghizadeh, Mohammad Javad; Ghaffari, Ali; Najafi, Farid

doi:10.1016/j.isatra.2009.05.001

Cited by 56 publications

(34 citation statements)

References 21 publications

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“…The PWM signal frequencies f PWM [Hz] 50 Hz [7], 100 Hz [8], up to 50 Hz [9], 100 Hz [10], 50 Hz [11] and 20 to 60 Hz [12]. Efforts were made to develop electro-pneumatic valve models based on the electrical and pneumatic parts modelling and to use these models in a PWM-driven pneumatic system [8], [9] and [13].…”

Section: Introductionmentioning

confidence: 99%

Volume Flow Characterization of PWM-Controlled Fast-Switching Pneumatic Valves

Pipan¹,

Herakovič²

2016

SV-JME

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Section: Introductionmentioning

confidence: 99%

Volume Flow Characterization of PWM-Controlled Fast-Switching Pneumatic Valves

Pipan¹,

Herakovič²

2016

SV-JME

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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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“…At each sample time, P p , P n and y are measured by sensors, while y ɺ is estimated by numerical derivation of the position measurement y. Thus, for each of the nine control configurations, the algorithm calculates P p ((k+1)T) and P n ((k+1)T) based on (9). Consequently, the nine directions d 1 to d 9 found from (8) define the set of reachable points at time (k+1)T in the state space (See Fig.…”

Section: ) Application To a Pneumatic Systemmentioning

confidence: 99%

“…Indeed, in free motion where the piston position significantly varies and so do the volume chambers, the pressure variation increase according to (1). This leads to decreased accuracy of the pressure approximation in (9). Therefore, the performance of the inner-loop force control deteriorates during free motion.…”

Section: ) Time Domain Analysis A)mentioning

confidence: 99%

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Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves

Pham

Tavakoli

et al. 2013

IEEE Trans. Contr. Syst. Technol.

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Abstract-In past research on the control of pneumatic actuators, typically proportional servovalves have been used for achieving high-performance control of the mass flow rate. In this paper, we instead use fast-switching on/off valves due to their distinct advantages in terms of low cost and small size. Accurate control of pneumatic actuators with on/off solenoid valves is a challenge since the system dynamics is both discrete-input and highly nonlinear. In this paper, we apply a hybrid control algorithm to a pneumatic actuator with on/off valves. Such a control approach is developed for choosing the best control vector at each sample time to track the reference state (i.e., desired force) in the inner force control loop within a bilateral teleoperation system. Experimental results show that good teleoperation transparency is achieved despite all the obstacles such as discrete-input and nonlinear behavior of the pneumatic-actuated teleoperation system.

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Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit

Cited by 56 publications

References 21 publications

Volume Flow Characterization of PWM-Controlled Fast-Switching Pneumatic Valves

Volume Flow Characterization of PWM-Controlled Fast-Switching Pneumatic Valves

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

Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves

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