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

[+] 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
Copyright © 2003 by ASME
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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,TD=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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