Energy Saving in Pneumatic Servo Control Utilizing Interchamber Cross-Flow

2006 ◽  
Vol 129 (3) ◽  
pp. 303-310 ◽  
Author(s):  
Xiangrong Shen ◽  
Michael Goldfarb
Keyword(s):  
Energy Saving ◽  
Mass Flow ◽  
Energy Savings ◽  
Sliding Mode ◽  
Cross Flow ◽  
Servo Control ◽  
Control Approach ◽  
Pneumatic Servo System ◽  
And Control ◽  
Spool Valve

This paper proposes a structure and control approach for the energy saving servo control of a pneumatic servo system. The energy saving approach is enabled by supplementing a standard four-way spool valve controlled pneumatic actuator with an additional two-way valve that enables flow between the cylinder chambers. The “crossflow” valve enables recirculation of pressurized air, and thus enables the extraction of stored energy that would otherwise be exhausted to the atmosphere. A control approach is formulated that supplements, to the extent possible, the mass flow required by a sliding mode controller with the recirculated mass flow provided by the crossflow valve. Following the control formulation, experimental results are presented that indicate energy savings of 25–52%, with essentially no compromise in tracking performance relative to the standard sliding mode control approach (i.e., relative to control via a standard four-way spool valve, without the supplemental flow provided by the crossflow valve).

Energy-Efficient Servo Control of Pneumatic Systems via Direct Cross Flow

2006 ◽  
Author(s):  
Xiangrong Shen ◽  
Michael Goldfarb
Keyword(s):  
Energy Saving ◽  
Mass Flow ◽  
Energy Savings ◽  
Sliding Mode ◽  
Cross Flow ◽  
Servo Control ◽  
Control Approach ◽  
Direct Cross ◽  
Pneumatic Servo System ◽  
Spool Valve

This paper proposes a structure and control approach for the energy saving servo control of a pneumatic servo system. The energy saving approach is enabled by supplementing a standard four-way spool valve controlled pneumatic actuator with an additional two-way valve that enables flow between the cylinder chambers. The "crossflow" valve enables recirculation of pressurized air, and thus enables the extraction of stored energy that would otherwise be exhausted to atmosphere. A control approach is formulated that supplements, to the extent possible, the mass flow required by a sliding mode controller with the recirculated mass flow provided by the crossflow valve. Following the control formulation, experimental results are presented that indicate energy savings of 25% to 52%, with essentially no compromise in tracking performance relative to the standard sliding mode control approach (i.e., relative to control via a standard four-way spool valve, without the supplemental flow provided by the crossflow valve).

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

2005 ◽  
Vol 128 (3) ◽  
pp. 655-662 ◽  
Author(s):  
Khalid A. Al-Dakkan ◽  
Eric J. Barth ◽  
Michael Goldfarb
Keyword(s):  
Energy Saving ◽  
Degrees Of Freedom ◽  
Energy Savings ◽  
Sliding Mode ◽  
Servo Systems ◽  
Control Approach ◽  
Dynamic Constraint ◽  
Energy Saving Control ◽  
Control Methodology ◽  
Spool Valve

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.

A Multi-Objective Sliding Mode Approach for the Energy Saving Control of Pneumatic Servo Systems

2003 ◽  
Author(s):  
Khalid A. Al-Dakkan ◽  
Eric J. Barth ◽  
Michael Goldfarb
Keyword(s):  
Energy Saving ◽  
Degrees Of Freedom ◽  
Energy Savings ◽  
Sliding Mode ◽  
Experimental Results ◽  
Servo Systems ◽  
Control Approach ◽  
Servo Actuator ◽  
Actuator Control ◽  
Spool Valve

This paper proposes a variation on a sliding mode control approach that provides significant energy savings for the control of pneumatic servo systems. The control methodology is formulated by first 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 both the sliding mode sliding condition and a dynamic constraint that minimizes airflow. The control formulation is presented, followed by experimental results that indicate significant energetic savings with essentially no compromise in tracking performance relative to a standard four-way spool valve approach. Specifically, relative to standard four-way spool valve pneumatic servo actuator control, the experimental results indicate energy saving of 27 to 45%, depending on the desired tracking frequency.

Design and Control of a Compact and Flexible Pneumatic Artificial Muscle Actuation System: Part Two—Robust Control

2011 ◽  
Author(s):  
Sai-Kit Wu ◽  
Garrett Waycaster ◽  
Tad Driver ◽  
Xiangrong Shen
Keyword(s):  
Robust Control ◽  
Nonlinear Model ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Control Approach ◽  
Actuation System ◽  
Highly Nonlinear ◽  
Pressure Dynamics ◽  
System Part ◽  
And Control

A robust control approach is presented in this part of the paper, which provides an effective servo control for the novel PAM actuation system presented in Part I. Control of PAM actuation systems is generally considered as a challenging topic, due primarily to the highly nonlinear nature of such system. With the introduction of new design features (variable-radius pulley and spring-return mechanism), the new PAM actuation system involves additional nonlinearities (e.g. the nonlinear relationship between the joint angle and the actuator length), which further increasing the control difficulty. To address this issue, a nonlinear model based approach is developed. The foundation of this approach is a dynamic model of the new actuation system, which covers the major nonlinear processes in the system, including the load dynamics, force generation from internal pressure, pressure dynamics, and mass flow regulation with servo valve. Based on this nonlinear model, a sliding mode control approach is developed, which provides a robust control of the joint motion in the presence of model uncertainties and disturbances. This control was implemented on an experimental setup, and the effectiveness of the controller demonstrated by sinusoidal tracking at different frequencies.

Design and Control of a Sleeve Muscle-Actuated Robotic Elbow

2014 ◽  
Vol 136 (4) ◽  
Author(s):  
Tad A. Driver ◽  
Xiangrong Shen
Keyword(s):  
Range Of Motion ◽  
Sliding Mode ◽  
Control Process ◽  
Good Control ◽  
Peak Torque ◽  
Step Response ◽  
Load Bearing ◽  
Pneumatic Muscle ◽  
Control Approach ◽  
And Control

This paper describes the design and control of a robotic elbow system, which is actuated with a novel sleeve muscle actuator. The sleeve muscle is a significant step forward from the traditional pneumatic muscle, and provides a substantially improved performance through a fundamental structural change. Specifically, the sleeve muscle incorporates a cylindrical insert to the center of the pneumatic muscle, which eliminates the central portion of the internal volume. As a result of this change, the sleeve muscle provides multiple advantages over the traditional pneumatic muscle, including the increased force capacity over the entire range of motion, reduced energy consumption, and expedited dynamic response. Furthermore, utilizing the load-bearing tube as the insert, the sleeve muscle enables an innovative “actuation-load bearing” structure, which generates a highly compact robotic system to mimic the structure and functionality of biological limbs. The robotic elbow design in this paper serves an example that shows the design and control process of a robotic joint in this integrated structure. This robotic elbow provides a range of motion of 110 deg, approximately 80% of that for a human elbow, and an average torque capacity that exceeds the peak torque of the human elbow. The servo control capability is provided with a model-based sliding-mode control approach, which is able to provide good control performance in the presence of disturbances and model uncertainties. This controller is implemented on the robotic elbow prototype, and the effectiveness was demonstrated with step response and sinusoidal tracking experiments.

Study and Application of a Slide Mode Control on Pneumatic Force Servo System

2012 ◽  
Vol 466-467 ◽  
pp. 896-900
Author(s):  
Yan Li Yang ◽  
Wei Xiang Shi ◽  
Yan Cao ◽  
Lei Lei
Keyword(s):  
Pid Control ◽  
Sliding Mode ◽  
Servo System ◽  
Servo Control ◽  
Time Varying ◽  
Slide Mode Control ◽  
Control Approach ◽  
Mode Control ◽  
Servo Control System ◽  
Identification Approach

In this paper, a sliding mode control approach combined with the boundary saturation function approach is put forward and used in a pneumatic force servo system to achieve an exact force control. First, a comparatively accurate model of the system is obtained by using the system identification approach and an analysis is made on the time-varying nature of the model. Then, it is designed by use of the boundary saturation approach, thus overcoming the system instability caused by the non-linearity of the proportional pressure valve and the change of the temperature inside the air cylinder. Finally, the performance of the pneumatic force servo control system is simulated and a comparison is made with the PID control. Results show the feasibility and effectiveness of the approach.

scholarly journals Finite-Time Composite Position Control for a Disturbed Pneumatic Servo System

2016 ◽  
Vol 2016 ◽  
pp. 1-10 ◽  
Author(s):  
Xiaojun Wang ◽  
Jiankun Sun ◽  
Guipu Li
Keyword(s):  
Finite Time ◽  
State Feedback ◽  
Position Control ◽  
Sliding Mode ◽  
State Feedback Control ◽  
Servo Systems ◽  
Control Approach ◽  
Composite Control ◽  
Control Scheme ◽  
Pneumatic Servo System

This paper investigates the finite-time position tracking control problem of pneumatic servo systems subject to hard nonlinearities and various disturbances. A finite-time disturbance observer is firstly designed, which guarantees that the disturbances can be accurately estimated in a finite time. Then, by combining disturbances compensation and state feedback controller together, a nonsmooth composite controller is developed based on sliding mode control approach and homogeneous theory. It is proved that the tracking errors under the proposed composite control approach can be stabilized to zero in finite time. Moreover, compared with pure state feedback control, the proposed composite control scheme offers a faster convergence rate and a better disturbance rejection property. Finally, numerical simulations illustrate the effectiveness of the proposed control scheme.

A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator

2005 ◽  
Vol 128 (1) ◽  
pp. 159-164 ◽  
Author(s):  
Kevin B. Fite ◽  
Jason E. Mitchell ◽  
Eric J. Barth ◽  
Michael Goldfarb
Keyword(s):  
Sliding Mode ◽  
Direct Injection ◽  
Sliding Mode Controller ◽  
Nonlinear Controller ◽  
Single Input Single Output ◽  
Control Approach ◽  
Single Output ◽  
Human Scale ◽  
Actuation System ◽  
And Control

This paper describes the modeling and control of a proportional-injector direct-injection monopropellant-powered actuator for use in power-autonomous human-scale mobile robots. The development and use of proportional (as opposed to solenoid) injection valves enables a continuous and unified input/output description of the device, and therefore enables the development and implementation of a sliding-mode-type controller for the force control of the proposed actuator, which provides the stability guarantees characteristic of a sliding-mode control approach. Specifically, a three-input, single-output model of the actuation system behavior is developed, which takes a nonlinear non-control-canonical form. In order to implement a nonlinear controller, a constraint structure is developed that effectively renders the system single input, single output, and control canonical, and, thus, of appropriate form for the implementation of a sliding-mode controller. A sliding-mode controller is then developed and experimentally implemented on the proposed actuator. Experimental results demonstrate closed-loop force tracking with a saturation-limited bandwidth of approximately 6Hz.

Nonlinear Modeling and Control of a 3 DOF Helicopter

2012 ◽  
Author(s):  
A. Chriette ◽  
F. Plestan ◽  
M. Odelga
Keyword(s):  
Pitch Angle ◽  
Sliding Mode ◽  
Nonlinear Modeling ◽  
Modeling And Control ◽  
Control Approach ◽  
Attitude Angle ◽  
Controller Gain ◽  
Online Adaptation ◽  
Twisting Algorithm ◽  
And Control

This paper presents a novel autopilot for a 3D helicopter. From desired trajectories defined by the user for elevation and travel angles, the autopilot is computing the desired trajectory of the pitch angle. Furthermore, the autopilot allows to decouple the system and to define “virtual” inputs in order to separately design controllers for each attitude angle. Travel and elevation controllers are based on adaptive version of super-twisting algorithm: this class of controllers keeps the robustness feature of sliding mode while reducing the well-known drawback of such control approach, the chattering, thanks to the online adaptation of the controller gain.

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