Position control of a pneumatic actuator under varying external force

• Autorzy: Zisser E. , Sintov A. , Shapiro A. , Riemer R.
• Języki publikacji: EN

Abstrakty

EN

In this paper a high accuracy position control strategy for a pneumatic actuation system subjected to a varying external force is proposed. A novel approach for the mathematical modeling of the pneumatic actuator, based on energy methods, is presented. The Lagrangian is derived from combining the kinetic and potential energies, leading to formulation of the Euler-Lagrange equation of motion. The nonlinear backstepping method is applied to derive the control law, and the derivative of the potential energy is used as the controlled parameter. Experimental results show that tracking a sine wave of 0.1m magnitude produces a maximum error of ±0:008m while the actuator is subjected to a time varying external force with a magnitude ranging from 570N to 1150N.

Słowa kluczowe

EN

pneumatic actuator; Euler-Lagrange equation of motion; nonlinear position control; external force

PL

aktuator pneumatyczny; równanie ruchu Eulera-Lagrange'a; nieliniowa regulacja położenia; wymuszenie zewnętrzne

• Wydawca: Wydawnictwo Politechniki Łódzkiej
• Czasopismo: Mechanics and Mechanical Engineering
• Rocznik: 2018
• Tom: Vol. 22, nr 4
• Strony: 1157--1174
• Opis fizyczny: Bibliogr. 16 poz., 1 fot. kolor., rys., wykr.

Twórcy

autor

Zisser E.

• Department of Mechanical Engineering, Ben-Gurion University of the Negev, Beer-Sheva, Israel

autor

Sintov A.

• Department of Mechanical Engineering, Ben-Gurion University of the Negev, Beer-Sheva, Israel

autor

Shapiro A.

• Department of Mechanical Engineering, Ben-Gurion University of the Negev, Beer-Sheva, Israel

autor

Riemer R.

• Department of Industrial and Management Engineering, Ben-Gurion University of the Negev, Beer-Sheva, Israel

Bibliografia

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).