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Research Papers

Analysis and Modeling of a Pneumatic Servo System Based on Backstepping Design

[+] Author and Article Information
Chia-Hua Lu

Candidate Department of Mechanical Engineering,  National Central University, Chung-Li 320, Taiwan e-mail: 973403003@cc.ncu.edu.tw

Yean-Ren Hwang

Department of Mechanical Engineering and the Institute of Opto-Mechatronics Engineering,  National Central University, Chung-Li 320, Taiwan

Yu-Ta Shen

Candidate

Tzu-Yu Wang

Department of Mechanical Engineering,  National Central University, Chung-Li 320, Taiwan

J. Dyn. Sys., Meas., Control 133(6), 061013 (Nov 11, 2011) (10 pages) doi:10.1115/1.4004601 History: Received July 30, 2010; Accepted April 25, 2011; Published November 11, 2011; Online November 11, 2011

Air motors have often been utilized in industrial servo systems in the automation industry due to their advantages such as small volume, low cost, light weight, convenience of operation, and no overheating problems. Recently, the development of control technology has improved, making the requirements for control precision higher than ever before. Accurate control performance in pneumatic systems is facilitated by the implementation of nonlinear control techniques. The purpose of this study is to analyze the behavior of a biaxial pneumatic table motion system with a vane-type air motor, and to design a backstepping sliding mode controller for this system. A proportional integral derivative controller compared with this new backstepping design. The tracking circle error and tracking error of the two axes are noted. The experimental results show that accurate tracking circle trajectory performance can be achieved with the proposed controller.

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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 1

Vane-type air motor

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Figure 2

Schematic diagram of the air motor system

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Figure 3

Photograph of the experimental air motor system

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Figure 4

Diagram of a strict-feedback system

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Figure 5

(a) X table performance; (b) output pressure of the X table; (c) Y table performance; (d) output pressure of the Y table. X-Y table performance under the same inlet pressure (3 bar)

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Figure 6

Relationship between controlled input voltage and different pressures

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Figure 7

(a) Adjusting the k1 parameter; (b) adjusting the c1 parameter; (c) adjusting the h parameter. The Experimental results after adjusting parameters

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Figure 8

(a) Tracking circle trajectory with a radius of 15 mm; (b) tracking trajectory for the X axis; (c) tracking trajectory for the Y axis; (d) output voltage for the X axis; (e) output voltage for the Y axis; (f) tracking error for the two axes; (g) tracking circuit error. The Experimental results for the PID control (frequency is 0.025 Hz)

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Figure 10

(a) Tracking circle trajectory with a radius of 15 mm; (b) tracking trajectory for the X axis; (c) tracking trajectory for the Y axis; (d) output voltage for the X axis; (e) output voltage for the Y axis; (f) tracking error for the two axes; (g) tracking circuit error. The Simulated results for the backstepping control (frequency is 0.025 Hz)

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Figure 9

(a) Tracking circle trajectory with a radius of 15 mm; (b) tracking trajectory for the X axis; (c) tracking trajectory for the Y axis; (d) output voltage for the X axis; (e) output voltage for the Y axis; (f) tracking error for the two axes; (g) tracking circuit error. The Experimental results for the backstepping control (frequency is 0.025 Hz)

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