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TECHNICAL PAPERS

A High Performance Pneumatic Force Actuator System: Part II—Nonlinear Controller Design

[+] Author and Article Information
Edmond Richer, Yildirim Hurmuzlu

Southern Methodist University, School of Engineering and Applied Science, Mechanical Engineering Department, Dallas, TX 75275

J. Dyn. Sys., Meas., Control 122(3), 426-434 (Jun 23, 1999) (9 pages) doi:10.1115/1.1286366 History: Received June 23, 1999
Copyright © 2000 by ASME
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References

Mannetje, J. J., 1981, “Pneumatic Servo Design Method Improves System Bandwidth Twenty-fold,” Control. Eng., pp. 79–83.
Bobrow,  J. E., and Jabbari,  F., 1991, “Adaptive Pneumatic Force Actuation and Position Control,” ASME J. Dyn. Syst., Meas., Control, 113, pp. 267–272.
Ferraresi, C., Giruado, P., and Quaglia, G., 1994, “Non-Conventional Adaptive Control Of Servopneumatic Unit For Vertical Load Positioning,” Proceedings of the 45th National Conference on Fluid Power.
McDonell,  B. W., and Bobrow,  J. E., 1993, “Adaptive Traking Control of an Air Powered Robot Actuator,” ASME J. Dyn. Syst., Meas., Control, 115, pp. 427–433.
Ben-Dov,  D., and Salcudean,  S. E., 1995, “A Force-Controlled Pneumatic Actuator,” IEEE Trans. Rob. Autom., 11, No. 6, pp. 906–911.
Richard,  E., and Scavarda,  S., 1996, “Comparison Between Linear and Nonlinear Control of an Electropneumatic Servodrive,” ASME J. Dyn. Syst., Meas., Control, 118, pp. 245–118.
Arun,  P. K., Mishra,  J. K., and Radke,  M. G., 1994, “Reduced Order Sliding Mode Control for Pneumatic Actuator,” IEEE Trans. Control Syst. Technol., 2, No. 3, pp. 271–276.
Tang,  J., and Walker,  G., 1995, “Variable Structure Control of a Pneumatic Actuator,” Trans. ASME, 117, pp. 88–92.
Pandian,  S. R., Hayakawa,  Y., Kanazawa,  Y., Kamoyama,  Y., and Kawamura,  S., 1997, “Practical Design of a Sliding Moth Controller for Pneumatic Actuators,” ASME J. Dyn. Syst., Meas., Control, 119, 666.
Richer,  E., and Hurmuzlu,  Y., 1999, “A High Performance Pneumatic Force Actuator System: Part I—Nonlinear Mathematical Model,” ASME J. Dyn. Syst., Meas. Control, 122, pp. 416–425.
Slotine, J. E., and Li, Y., 1991, Applied Nonlinear Control, Prentice-Hall, New Jersey.

Figures

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Theoretical and experimental values of motion amplitude
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Schematic representation of the moving mass experimental setup
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Frequency response using the full and reduced order SMC, for 2 m tube length
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Frequency response using the full and reduced order SMC, for 0.5 m tube length
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Experimental values of the actuator force, using the full order SMC (a), and reduced order SMC (b), for 75 N and 20 Hz desired force, and for 2 m tube length
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Experimental values of the actuator force, using the full order SMC (a), and reduced order SMC (b), for for 75 N and 20 Hz desired force, and 0.5 m tube length
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Numerical results for the actuator force (a), and control law and spool displacement (b), using the reduced order SMC for 75 N and 20 Hz desired force, and 2 m tube length
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Numerical results for the actuator force (a), and control law and spool displacement (b), using the reduced order SMC for 75 N and 20 Hz desired force, and 0.5 m tube length
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Simulation results for the actuator force (a), and control law and spool displacement (b), using the full order SMC for 75 N and 20 Hz desired force, and 2 m tube length
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Simulation results for the actuator force (a), and control law and spool displacement (b), using the full order SMC for 75 N and 20 Hz desired force, and 0.5 m tube length
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Series approximation of the spool displacement, and the approximation error for 2, 3, and 4 terms in the series
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Series approximation of the valve area, and the approximation error for 2, 3, and 4 terms in the series
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Schematic representation of the pneumatic cylinder-valve system

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