Pneumatic Rotary Actuator Position Servo System Based on ADE-PD Control

Zhang, Yeming; Li, Ké; Wei, Shaoliang; Geng, Wang

doi:10.3390/app8030406

Cited by 4 publications

(5 citation statements)

References 33 publications

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“…The verification experiment of the mass flow rates was carried out with the pneumatic circuit shown in Figure 10. We set the supply pressure s (8) and (17), and were compared with the test values, as shown in Figure 19a. If we take the test values as the actual values, the percentage errors can be expressed by Figure 19b…”

Section: Verification Of the Mass Flow Rates Of The Proportional Valvementioning

confidence: 99%

“…We set the supply pressure p s at 0. M 4 were obtained from the calculations of Equations (1), (8) and (17), and were compared with the test values, as shown in Figure 19a. If we take the test values as the actual values, the percentage errors can be expressed by Figure 19b.…”

Section: Verification Of the Mass Flow Rates Of The Proportional Valvementioning

confidence: 99%

“…Intelligent control based on a complex model follows the traditional thinking of electromechanical system research, which has been understood and used by researchers. In previous studies [7][8][9], the valve-controlled actuator system model was usually linearized to a third-order transfer function by the method of intermediate position linearization. This type of linearized model is simple in structure, and the system accuracy often depends on the control effect of the intelligent algorithm.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear Model Establishment and Experimental Verification of a Pneumatic Rotary Actuator Position Servo System

Zhang

Wang

et al. 2019

Energies

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In order to accurately reflect the characteristics and motion states of a pneumatic rotary actuator position servo system, an accurate non-linear model of the valve-controlled actuator system is proposed, and its parameter identification and experimental verification are carried out. Firstly, in the modeling of this system, the mass flow rate of the gas flowing through each port of the proportional directional control valve is derived by taking into account the clearance between the valve spool and the sleeve, the heat transfer formula is used to the derivation of the energy equation, and the Stribeck model is applied to the friction model of the pneumatic rotary actuator. Then, the flow coefficient, the heat transfer coefficient and the friction parameters are identified by the model and pneumatic test circuits. After the verification experiment of the mass flow rate equations, the charging and discharging experiment reveals that the model can clearly show the effect of clearances on gas pressure changes and describe the effect of heat transfer on gas temperature changes. Finally, the results of model verification indicate that the simulation curves of rotation angle and two-chamber pressures are consistent with their experimental values, and the non-linear model shows high accuracy.

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Section: Verification Of the Mass Flow Rates Of The Proportional Valvementioning

confidence: 99%

Section: Verification Of the Mass Flow Rates Of The Proportional Valvementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Nonlinear Model Establishment and Experimental Verification of a Pneumatic Rotary Actuator Position Servo System

Zhang

Wang

et al. 2019

Energies

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“…According to [23], the continuity equation for the mass flow rates of the gas flowing into the two chambers can be expressed as…”

Section: Continuity Equation Of the Mass Flow Ratementioning

confidence: 99%

“…The proportional-integral-derivative (PID) control is an effective method which can dynamically reduce the output deviation of a servo system, where proportional-derivative (PD) control can reduce the system delay and is suitable for high-speed control of the proportional valve [23]. Besides, evolutionary algorithms, such as differential evolution (DE) algorithm and genetic algorithm (GA), can optimize the controller parameters [24,25] and identify the friction parameters [26,27], and have been used in friction feedforward compensation.…”

Section: Introductionmentioning

confidence: 99%

Evolutionary Algorithm-Based Friction Feedforward Compensation for a Pneumatic Rotary Actuator Servo System

Zhang

Wei

et al. 2018

Applied Sciences

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The friction interference in the pneumatic rotary actuator is the primary factor affecting the position accuracy of a pneumatic rotary actuator servo system. The paper proposes an evolutionary algorithm-based friction-forward compensation control architecture for improving position accuracy. Firstly, the basic equations of the valve-controlled actuator are derived and linearized in the middle position, and the transfer function of the system is further obtained. Then, the evolutionary algorithm-based friction feedforward compensation control architecture is structured, including that the evolutionary algorithm is used to optimize the controller coefficients and identify the friction parameters. Finally, the contrast experiments of four control strategies (the traditional PD control, the PD control with friction feedforward compensation without evolutionary algorithm tuning, the PD control with friction feedforward compensation based on the differential evolution algorithm, and the PD control with friction feedforward compensation based on the genetic algorithm) are carried out on the experimental platform. The experimental results reveal that the evolutionary algorithm-based friction feedforward compensation greatly improves the position tracking accuracy and positioning accuracy, and that the differential evolution-based case achieves better accuracy. Also, the system with the friction feedforward compensation still maintains high accuracy and strong stability in the case of load.

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Improved Beetle Antennae Search Algorithm-Based Lévy Flight for Tuning of PID Controller in Force Control System

Fan

Shao

Sun

et al. 2020

Mathematical Problems in Engineering

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To enhance the anti-interference capability of an electrohydraulic force servo control system and increase the efficiency of the PID controller, this paper proposes a LBAS-PID controller. In LBAS, the random step created by the Lévy flight trajectory was used in the original algorithm to enhance the diversity of the population and convergence speed. In the force servo control system, LBAS-PID can enhance the performance of the system. First, the basic mathematical model of an electrohydraulic force servo control system was built based on theoretical analysis. The transfer function model was obtained by identifying the system parameters. Second, the introduced Lévy flight beetle antennae search algorithm was introduced and applied to ten benchmark functions, and the results were compared with those of other algorithms. Then, the proposed algorithm was applied in the PID controller to tune PID parameters in the force servo control system. To comprehensively evaluate performances of an electrohydraulic force servo control system that is controlled by the LBAS-PID controller, the frequency response analysis and temporal response analysis were obtained. The numerical analysis results indicate that an electrohydraulic force servo control system with an LBAS-PID controller could substantially increase the control characteristics of the system and restrain the external disturbances when different interference signals are examined.

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Pneumatic Rotary Actuator Position Servo System Based on ADE-PD Control

Cited by 4 publications

References 33 publications

Nonlinear Model Establishment and Experimental Verification of a Pneumatic Rotary Actuator Position Servo System

Nonlinear Model Establishment and Experimental Verification of a Pneumatic Rotary Actuator Position Servo System

Evolutionary Algorithm-Based Friction Feedforward Compensation for a Pneumatic Rotary Actuator Servo System

Improved Beetle Antennae Search Algorithm-Based Lévy Flight for Tuning of PID Controller in Force Control System

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