Integrating Servo-Pneumatic Actuator with Ball Beam System based on Intelligent Position Control

Abstract

The purpose of this paper is to design a controller that can control the position of the cylinder pneumatic stroke. This work proposes two control approaches, Proportional-Integral-Derivative Fuzzy Logic (Fuzzy-PID) controller and Proportional-Derivative Fuzzy Logic (PD-Fuzzy) controller for a Servo-Pneumatic Actuator. The design steps of each controller implemented on MATLAB/Simulink are presented. A model based on position system identification is used for the controller design. Then, the simulation results are analyzed and compared to illustrate the performance of the proposed controllers. Finally, the controllers are tested with the real plant in real-time experiment to validate the results obtained by simulation. Results show that PD-Fuzzy controller offer better control compared to Fuzzy-PID. A Pneumatic Actuated Ball & Beam System (PABBS) is proposed as the application of the position controller. The mathematical model of the system is developed and tested simulation using Feedback controller (outer loop)-PD-Fuzzy controller (inner loop). Simulation result is presented to see the effectiveness of the obtained model and controller. Results show that the servo-pneumatic actuator can control the position of the Ball & Beam system using PD-Fuzzy controller.

Intelligent Position Control for Intelligent Pneumatic Actuator with Ball-Beam (IPABB) System

“…The pneumatic actuator stroke position is shown in Figures 16 and 17 as a step and multistep reaction to the ball position. Furthermore, as previously stated, the findings of the suggested inner and outer loop controllers are compared to the previously published study for the identical system in [28].…”

“…In this study, an intelligent pneumatic actuator was employed to adjust the angle of the beam, which presents additional challenges for the control system. The system was developed utilizing multiple techniques, including Newton's second law, the Lagrangian method, and conversion to transfer function [25,28]. Newton's second law served as the basis for the development of the mathematical model for describing the dynamic behavior of the proposed system.…”

Experimental Evaluation of A Cylinder Actuator Control using McKibben Muscle

“…There are many control strategies employed to control the position of a pneumatic cylinder actuator, for example, sliding mode control [9], pulse width modulation [10], feedback-fuzzy hybrid [11] and predictive functional controller [12]. However, they share the same problem: it is difficult to achieve an accurate position control [13].…”

Design and Implementation of a Two Stage Controller for Ball and Beam System Using FPGA

“…In general, Lagrangian method or Newton's second law can be used to drive the dynamic equations of the ball and beam system. According to Newton's second law, the relation between the position of the ball x and the beam angle α can be determine from the free-body diagram shown in Figure 3 with neglect the frictional force by the following equation [1,17]:…”

“…[14] Presents a new technique for controlling the motion of a permanent magnet of the DC motor by implementation of FPGA which is based on PID controller. In other word, and since the two stage (cascade) controller is one of the most efficient approaches that is used to control the ball and beam system and it present in many references like [15][16][17], so in this paper, a two stages controller (PID with PD) is suggested first to control the servo motor and ball and beam system, then these two stages are designed in real time by using FPGA. This paper is organized as follows: the mathematical model of the ball and beam system is given by section 2, the suggested two stages controller for ball and beam system is describes in section 3, the complete hardware FPGA design is explained by section 4, various Matlab simulation results are illustrate by section 5, the summary for the overall work and conclusions are given in last section of this paper.…”