Accurate Position Control of a Pneumatic Actuator

[+] Author and Article Information
Jiing-Yih Lai, Chia-Hsiang Menq, Rajendra Singh

Fluid Power Laboratory, Department of Mechanical Engineering, The Ohio State University, Columbus, Ohio 43210-1107

J. Dyn. Sys., Meas., Control 112(4), 734-739 (Dec 01, 1990) (6 pages) doi:10.1115/1.2896202 History: Received August 18, 1988; Revised April 01, 1989; Online March 17, 2008


We propose a new control strategy for on-off valve controlled pneumatic actuators and robots with focus on the position accuracy. A mathematical model incorporating pneumatic process nonlinearities and nonlinear mechanical friction has been developed to characterize the actuator dynamics; this model with a few simplifications is then used to design the controller. In our control scheme, one valve is held open and the other is operated under the pulse width modulation mode to simulate the proportional control. An inner loop utilizing proportional-plus-integral control is formed to control the actuator pressure, and an outer loop with displacement and velocity feedbacks is used to control the load displacement. Also, a two staged feedforward force is implemented to reduce the steady state error due to the nonlinear mechanical friction. Experimental results on a single-degree-of-freedom pneumatic robot indicate that the proposed control system is better than the conventional on-off control strategy as it is effective in achieving the desired position accuracy without using any mechanical stops in the actuator.

Copyright © 1990 by The American Society of Mechanical Engineers
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