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An Original System for Controlling the Speed of Movement of Pneumatic Drives in Rehabilitation Devices

Żyłka Marta, Żyłka Wojciech, Szczerba Zygmunt, Biskup Marcin

Advances in Science and Technology. Research Journal

2023

Vol. 17, no 1

124--132

The aim of the article is to present an original method of speed control and simultaneous stroke of the piston rods of two pneumatic cylinders using potentiometric position transducers, pneumatic solenoid valves, properly scaled throttle-check valves, solenoid valves and a microcontroller with power modules for solenoid valves. Initial experimental studies of the control system for simultaneous displacement of two piston rods of pneumatic actuators were carried out. The purpose of the research was to obtain the characteristics of the displacement of the extension of two pneumatic drives. The obtained results were analyzed. The results of the measurements confirmed the possibility of applying the presented control to rehabilitation devices for passive exercises of the lower extremities. The advantage of the proposed control system is its reaction speed, which is a response to changes in operating conditions of a given actuator, such as: external disturbances, own resistance of the controlled device, frictional resistance or movement caused by the patient exercising on the rehabilitation device moved by these actuators.

Binarne sterowanie układem automatycznego dopasowania dowolnych obciążeń zespolonych

Czawka G., Litwińczuk N., Sadowski M.

Pomiary Automatyka Kontrola

2010

R. 56, nr 2

129-132

Praca dotyczy problemu binarnego sterowania układu automatycznego dopasowania dowolnych obciążeń zespolonych w szerokim paśmie częstotliwości. Omówiono strukturę układu dopasowania oraz kwantowanie i kodowanie zmiennych wartości elementów układu. Przedstawiono modele elementów, makroelementów oraz całego układu dopasowującego z uwzględnieniem strat i parametrów pasożytniczych. Opracowano oprogramowanie komputerowe realizujące projektowanie, optymalizację oraz symulację układu automatycznego dopasowania z wykorzystaniem modeli rzeczywistych wszystkich elementów układu. Zamieszczono wyniki projektowania i symulacji charakterystyk układu dopasowania anteny o małych rozmiarach geometrycznych stosowanych w terminalach mobilnych systemów radiokomunikacji.

The paper presents a problem of computer-aided design of automatic matching devices controlled within the broad frequency band for arbitrary complex loads. The basic block of the automatic matching device is a matching circuit consisting of a serial inductance L and a parallel capacitor C connected to the device input or output (Γ network). It is described in Paragraph 2. The capacity and inductance values are controlled by a microcontroller. A binary control algorithm for automatic matching of arbitrary complex loads is presented in Paragraph 3. There are described the ideal network structure as well as quantization and coding of the variable network element values . A structure of the binary-stepped switching matching network is shown in Fig.4. A pin diode is used as a switch for the capacitor connected to the device input or output. The models of the matching device real elements with parasitic parameters are used for calculation. A special software for calculations of the automatic matching device elements was developed. In Paragraph 4 there is considered an example of the matching problem of complex load. Calculations were performed for ideal and real structures of the matching device elements. A step of the element quantization value was assumed to be equal to ΑL=0,01uH and ΑC=2pF, the values were coded with 8 bits. The calculation results are presented in Figs.6-12. The proposed solution is especially recommended for matching the structures with dynamic changes of complex loads within the broad frequency band.