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TECHNICAL PAPERS

Dynamic Constraint-Based Energy-Saving Control of Pneumatic Servo Systems

[+] Author and Article Information
Khalid A. Al-Dakkan, Eric J. Barth, Michael Goldfarb

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

J. Dyn. Sys., Meas., Control 128(3), 655-662 (Nov 14, 2005) (8 pages) doi:10.1115/1.2232688 History: Received June 03, 2003; Revised November 14, 2005

This paper proposes a control approach that can provide significant energy savings for the control of pneumatic servo systems. The control methodology is formulated by decoupling the standard four-way spool valve used for pneumatic servo control into two three-way valves, then using the resulting two control degrees of freedom to simultaneously satisfy a performance constraint (which for this paper is based on the sliding mode sliding condition), and an energy-saving dynamic constraint that minimizes cylinder pressures. The control formulation is presented, followed by experimental results that indicate significant energy savings with essentially no compromise in tracking performance relative to control with a standard four-way spool valve.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 1

Standard pneumatic servo actuator driving an inertial load

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Figure 2

Modification of standard pneumatic servo actuator for accommodating dynamic constraint-based control architecture

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Figure 3

Standard sliding mode control for 0.25Hz sinusoidal tracking (black is actual position, gray is desired)

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Figure 4

Dynamic constraint-based control for 0.25Hz sinusoidal tracking (black is actual position, gray is desired)

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Figure 5

Pressure drop in the supply tank over a 30s interval during both dynamic constraint-based control and standard control of 0.25Hz sinusoidal tracking

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Figure 6

Pressure variation in cylinder chambers for dynamic constraint-based control versus standard sliding mode control for 0.25Hz sinusoidal tracking (black is chamber a pressure, gray is chamber b pressure)

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Figure 7

Standard sliding mode control for 1.5Hz sinusoidal tracking (black is actual position, gray is desired)

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Figure 8

Dynamic constraint-based control for 1.5Hz sinusoidal tracking (black is actual position, gray is desired)

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Figure 9

Pressure drop in the supply tank over a 30s interval during both dynamic constraint-based control and standard sliding mode control of 1.5Hz sinusoidal tracking.

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Figure 10

Pressure variation in cylinder chambers for dynamic constraint-based control versus standard sliding mode control for 1.5Hz sinusoidal tracking (black is chamber a pressure, gray is chamber b pressure).

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