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TECHNICAL PAPERS

Nonlinear Model-Based Control of Pulse Width Modulated Pneumatic Servo Systems

[+] Author and Article Information
Xiangrong Shen, Jianlong Zhang, Eric J. Barth, Michael Goldfarb

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

J. Dyn. Sys., Meas., Control 128(3), 663-669 (Nov 14, 2005) (7 pages) doi:10.1115/1.2232689 History: Received May 06, 2004; Revised November 14, 2005

This paper presents a control methodology that enables nonlinear model-based control of pulse width modulated (PWM) pneumatic servo actuators. An averaging approach is developed to describe the equivalent continuous-time dynamics of a PWM controlled nonlinear system, which renders the system, originally discontinuous and possibly nonaffine in the input, into an equivalent system that is both continuous and affine in control input (i.e., transforms the system to nonlinear control canonical form). This approach is applied to a pneumatic actuator controlled by a pair of three-way solenoid actuated valves. The pneumatic actuation system is transformed into its averaged equivalent control canonical form, and a sliding mode controller is developed based on the resulting model. The controller is implemented on an experimental system, and the effectiveness of the proposed approach validated by experimental trajectory tracking.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 1

Solenoid valve controlled pneumatic servoactuator driving an inertial load

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Figure 2

Command and measured motion (a) and tracking error (b) for sinusoidal tracking at 0.25Hz

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Figure 3

Command and measured motion (a) and tracking error (b) for sinusoidal tracking at 0.5Hz

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Figure 4

Command and measured motion (a) and tracking error (b) for sinusoidal tracking at 1.0Hz

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Figure 5

Continuous control command for 1.0Hz sinusoidal tracking

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Figure 6

Continuous control command for two cycles of sinusoidal tracking

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Figure 7

Binary (i.e., on/off) valve command for valve a corresponding to the control command in Fig. 6 (1 corresponds to connecting chamber a to supply, 0 corresponds to connecting to exhaust)

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Figure 8

Binary (i.e., on/off) valve command for valve b corresponding to the control command in Fig. 6 (1 corresponds to connecting chamber b to supply, 0 corresponds to connecting to exhaust)

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