Non-linear position control of a pneumatic actuator with closed-loop stiffness and damping tuning

Abry, Frédéric; Brun, Xavier; Sesmat, Sylvie; Bideaux, Éric

doi:10.23919/ecc.2013.6669357

Cited by 21 publications

(33 citation statements)

References 10 publications

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“…The use of electropneumatic actuators with a stiffness control seems suitable. In [17] a control law have been developed for only one DOF system, so a scientific lock will be to complete it for multiaxes robot. To obtain this control synthesis, the kinematic and dynamic models of the BirthSIM mechanical part are necessary.…”

Section: Discussionmentioning

confidence: 99%

A new design for the BirthSIM simulator to improve realism

Herzig¹,

Moreau²,

Redarce³

2014

2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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This paper presents a new design of the BirthSIM simulator. Its goal is to help obstetricians and midwives to train and improve their skills during childbirth delivery. The new version of the BirthSIM is more actuated than the previous version in order to be more biofidelic and cover various scenarios. The direct and inverse geometric models of the haptic interface are presented. The working space reached by the fetal head is computed and validates the proposed design which allows to reproduce all fetal head trajectories inside the pelvis. The novelty is illustrated by an example which presents a simulated trajectory stemmed from a sacrum shape measure. The inverse geometric model allows to compute the actuators displacements and thus to validate the chosen components.

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Section: Discussionmentioning

confidence: 99%

A new design for the BirthSIM simulator to improve realism

Herzig¹,

Moreau²,

Redarce³

2014

2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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“…From the results a three dimensional table giving the mass flow rate for each couple pressure-control voltage is derived. This table is then used to compute the control voltage (Abry et al, 2013). In this study, this last strategy has been chosen.…”

Section: Servovalve Inverse Modelmentioning

confidence: 99%

“…The A-T transformation proposed for the first time in Abry et al (2013) is similar to the d-q Park Transform (Leonhard, 1990) widely used in three-phase electric motors control. Those systems normally display three inputs: the three voltages V a , V b and V c which control the three currents I a , I b and I c .…”

Section: Introduction: the Park Transformmentioning

confidence: 99%

“…In this paper, using the A-T transformation introduced for the first time in Abry, Brun, Sesmat, and Bideaux (2013), a similar approach is proposed to synthesize a non-linear observer for zero speed reconstruction of the piston position of an electro-pneumatic cylinder. The use of the A-T transformation, which is similar to the d-q Park Transform (Leonhard, 1990) widely used in three-phase electrical systems control, allows a parallel between electropneumatic actuators and PMSMs to be drawn.…”

Section: Introductionmentioning

confidence: 99%

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Piston position estimation for an electro-pneumatic actuator at standstill

Abry

Brun

Loreto

et al. 2015

Control Engineering Practice

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a b s t r a c tIn this paper, a first strategy to reconstruct the piston position of a pneumatic cylinder supplied by two servovalves is proposed using only the chambers pressure measurements. This work focuses on the position observation at standstill. Starting from a classical model of this actuator, a transformation of the inputs is used. This way, for the first time, a link is established between electro-pneumatic actuators and Permanent Magnet Synchronous Motors (PMSM). This allows to apply PMSM zero speed observation strategies to electro-pneumatic actuators. Thus, following an observability analysis, a signal injection based methodology is used to ensure the observability of the electro-pneumatic system. A non-linear position observer is synthesized and a Lyapunov function is provided to ensure the global stability. Experimental results confirm the proposed strategy efficiency. The proposed technique constitutes a first step toward sensorless position control of electro-pneumatic actuators.

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“…Pneumatic actuators are widely used in many different industries and offer many advantages such as low cost, good power/weight ratio, cleanliness, and safety [7], [8], [9]. Moreover, they permit to set actuators' compliance up more easily than with electric ones by controlling the amount of air inside both chambers [10], [11]. However, they suffer from drawbacks including friction and variation of the actuator dynamics to load and piston position along the cylinder stroke [12] and accurate position control of such actuators is difficult due to the nonlinear dynamics [13].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Discontinuous Dynamics Averaging and PWM-Based Sliding Control of Solenoid-Valve Pneumatic Actuators

Hodgson

Tavakoli

Pham

et al. 2015

IEEE/ASME Trans. Mechatron.

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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 slidingmode control scheme that is based on an averaged continuousinput model of the discontinuous-input open-loop system. The averaged model is obtained from the nonlinear dynamics of the open-loop 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 slidingmode controller.For the sliding control design, we note that a pneumatic actuator has two chambers with a total of four on/off valves. Thus, there are sixteen possible combinations for valves' switching. Seven of these sixteen operating "modes" are considered both functional and unique. The proposed sliding control utilizes and switches between these seven modes of the open-loop system in order to select the ones with necessary and sufficient amounts of drive energy. In comparing the new 7-mode controller to previous controllers, we will demonstrate reductions in the position tracking error and the number of switches made by the actuator's on/off valves. The proposed control scheme is used in both position control of a pneumatic cylinder and bilateral control of a one degree of freedom teleoperation system. Experimental results are presented to validate our theoretical findings.

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Non-linear position control of a pneumatic actuator with closed-loop stiffness and damping tuning

Cited by 21 publications

References 10 publications

A new design for the BirthSIM simulator to improve realism

A new design for the BirthSIM simulator to improve realism

Piston position estimation for an electro-pneumatic actuator at standstill

Nonlinear Discontinuous Dynamics Averaging and PWM-Based Sliding Control of Solenoid-Valve Pneumatic Actuators

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