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TECHNICAL PAPERS

Servo Pneumatic Position Control Using Fuzzy PID Gain Scheduling

[+] Author and Article Information
Z. Situm, D. Pavkovic, B. Novakovic

University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Department of Robotics and Automation of Production Systems, I. Lucica 5, 10000 Zagreb, Croatia

J. Dyn. Sys., Meas., Control 126(2), 376-387 (Aug 05, 2004) (12 pages) doi:10.1115/1.1767857 History: Received January 01, 2002; Revised December 09, 2002; Online August 05, 2004
Copyright © 2004 by ASME
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References

Bachmann, R. J., and Surgenor, B. W., 1998, “On the Dynamic Performance of a Proportional Pneumatic Positioning System,” 1. Internationales Fluidtechnisches Kolloquium, Aachen, pp. 365–378.
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Figures

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Schematic diagram of the control system
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Block diagram of modified structure of PID controller
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Static friction model: a) Stribeck model; b) Karnopp model
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a) Block diagram of position control system with modified PID controller extended by friction compensation and stabilization term, b) block diagram of friction compensator and c) stabilization term
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Speed control system response to small reference step signal
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Velocity gain for supply pressure in the range 4 to 7 bar
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Fuzzy inference engine for controller gain scheduling: a) distribution of input-output membership functions, b) rule base table, c) mapping curve
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Block diagram of the position control system using PID controller with friction compensation and stabilization algorithm and controller signal adjustment using fuzzy logic
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Experimental results of pneumatic servo drive position control using PID controller tuned according to damping optimum: a) reference input and output position, b) details A and B, c) pressure responses, d) velocity and control voltage
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Experimental results for position control using PID controller with friction compensation and stabilization algorithm: a) reference input and output position, b) details A and B, c) pressure responses, d) velocity and control voltage
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Experimental results for position control using PID controller with friction compensation and stabilization algorithm in case of supply pressure changes: a) reference input and output position, b) details A and B, c) pressure responses, d) velocity and control voltage
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Experimental results of position control using PID controller with friction compensation algorithm and controller gain scheduling using fuzzy logic: a) reference input and output position, b) details A and B, c) pressure responses, d) correction signal and control voltage
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Experimental results for position response using PID controller with friction compensation algorithm and controller gain scheduling using fuzzy logic in case of acting an external disturbance
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Photo of the experimental equipment. 1—Linear potentiometer, 2—Pneumatic rodless cylinder, 3—Load mass, 4—Rotational potentiometer, 5—Ref. voltage on potentiometer, 6—Pressure sensor, 7—Proportional valve (servovalve), 8—Proportional pressure valves, 9—On/off solenoid valves, 10—Filter-regulator unit, 11—Air supply valve, 12—Electronic interface, 13—Control computer

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