Control Design for Relative Stability in a PWM-Controlled Pneumatic System

Eric J. Barth; Jianlong Zhang; Michael Goldfarb

doi:10.1115/1.1591810

Journal of Dynamic Systems, Measurement, and Control | Volume 125 | Issue 3 | Technical Brief

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TECHNICAL BRIEFS

Control Design for Relative Stability in a PWM-Controlled Pneumatic System

Eric J. Barth, Jianlong Zhang and Michael Goldfarb

[+] Author and Article Information

Eric J. Barth, Jianlong Zhang, Michael Goldfarb

Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235

J. Dyn. Sys., Meas., Control 125(3), 504-508 (Sep 18, 2003) (5 pages) doi:10.1115/1.1591810 History: Received June 17, 2002; Revised December 27, 2002; Online September 18, 2003

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Schematic diagram of a pneumatic inertial positioning system actuated with a double-acting pneumatic cylinder and controlled with two binary (2-position) 3-way pilot-assisted solenoid valves.

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Open-loop frequency response plots of the equivalent model G(s). Parameters used are those for the particular application of interest with M=10 kg,τ=9 ms,T_D=19 ms,P=586 kPa gage (85 psig) and T=38.5 ms (26 Hz PWM switching frequency).

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Frequency response plots of the compensator K(s) obeying the saturation gain limit of −52 dB imposed by PWM control near the targeted cross-over frequency of 2 Hz.

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Frequency response plots of the uncompensated open-loop system, the compensator, and the compensated open-loop system. The compensated open-loop response shows a phase margin of 33° and a gain margin of 6.7 dB at a cross-over frequency of 2.0 Hz.

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Step response. The filtered commanded step is shown as dashed and the measured system response is shown as solid.

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Sinusoidal response at 0.5 Hz. .

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Sinusoidal response at 1.0 Hz. .

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Frequency response plots of the closed-loop system. The figure shows both the control design model prediction as well as experimentally measured points overlayed.

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Barth EJ, Zhang J, Goldfarb M. Control Design for Relative Stability in a PWM-Controlled Pneumatic System. ASME. J. Dyn. Sys., Meas., Control. 2003;125(3):504-508. doi:10.1115/1.1591810.

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Control Design for Relative Stability in a PWM-Controlled Pneumatic System

References

Figures

Schematic diagram of a pneumatic inertial positioning system actuated with a double-acting pneumatic cylinder and controlled with two binary (2-position) 3-way pilot-assisted solenoid valves.

Open-loop frequency response plots of the equivalent model G(s). Parameters used are those for the particular application of interest with M=10 kg,τ=9 ms,T_D=19 ms,P=586 kPa gage (85 psig) and T=38.5 ms (26 Hz PWM switching frequency).

Frequency response plots of the compensator K(s) obeying the saturation gain limit of −52 dB imposed by PWM control near the targeted cross-over frequency of 2 Hz.

Frequency response plots of the uncompensated open-loop system, the compensator, and the compensated open-loop system. The compensated open-loop response shows a phase margin of 33° and a gain margin of 6.7 dB at a cross-over frequency of 2.0 Hz.

Step response. The filtered commanded step is shown as dashed and the measured system response is shown as solid.

Sinusoidal response at 0.5 Hz. .

Sinusoidal response at 1.0 Hz. .

Frequency response plots of the closed-loop system. The figure shows both the control design model prediction as well as experimentally measured points overlayed.

Tables

Errata

Discussions

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Control Design for Relative Stability in a PWM-Controlled Pneumatic System

References

Figures

Schematic diagram of a pneumatic inertial positioning system actuated with a double-acting pneumatic cylinder and controlled with two binary (2-position) 3-way pilot-assisted solenoid valves.

Open-loop frequency response plots of the equivalent model G(s). Parameters used are those for the particular application of interest with M=10 kg,τ=9 ms,TD=19 ms,P=586 kPa gage (85 psig) and T=38.5 ms (26 Hz PWM switching frequency).

Frequency response plots of the compensator K(s) obeying the saturation gain limit of −52 dB imposed by PWM control near the targeted cross-over frequency of 2 Hz.

Frequency response plots of the uncompensated open-loop system, the compensator, and the compensated open-loop system. The compensated open-loop response shows a phase margin of 33° and a gain margin of 6.7 dB at a cross-over frequency of 2.0 Hz.

Step response. The filtered commanded step is shown as dashed and the measured system response is shown as solid.

Sinusoidal response at 0.5 Hz. .

Sinusoidal response at 1.0 Hz. .

Frequency response plots of the closed-loop system. The figure shows both the control design model prediction as well as experimentally measured points overlayed.

Tables

Errata

Discussions

Related Content

Journals

Conference Proceedings

eBooks

Open-loop frequency response plots of the equivalent model G(s). Parameters used are those for the particular application of interest with M=10 kg,τ=9 ms,T_D=19 ms,P=586 kPa gage (85 psig) and T=38.5 ms (26 Hz PWM switching frequency).