A Servo-Pneumatic Positioning System Driven by Fast Switching On/Off Valves

2011 ◽  
Author(s):  
Cristiano Cardoso Locateli ◽  
Victor Juliano De Negri ◽  
Edson Roberto De Pieri
Keyword(s):  
Pulse Width Modulation ◽  
Test Bench ◽  
Position Control ◽  
Flow Equation ◽  
Experimental Results ◽  
Pneumatic System ◽  
System Control ◽  
Fast Switching ◽  
The Mathematical Model ◽  
Position Control System

This paper discusses the theoretical and experimental results of a position control system using a pneumatic actuator driven by fast switching on/off valves. To begin with, there is a brief introduction about servo-pneumatic systems driven by fast switching valves. Subsequently, the mathematical model of the servo-pneumatic system is discussed involving directional fast switching on/off valves and the flow control valves, modeled according to the mass flow equation based on ISO 6358 and the actuator modeled by Newton’s second law and the continuity equation. The system control is performed through the pulse width modulation (PWM) technique used with a proportional-integrative-derivative (PID) controller. The system performance is analyzed in relation to its application for power control of wind turbines. The simulations of the servo-pneumatic system were carried out by Matlab/Simulink with the experimental results obtained through a test bench.

Angular Position Control of Fluid-Driven Spindle

2009 ◽  
Author(s):  
Yohichi Nakao ◽  
Naoya Asaoka
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Steady State ◽  
Disturbance Observer ◽  
Position Control ◽  
Angular Position ◽  
Experimental Results ◽  
The Mathematical Model ◽  
Position Control System ◽  
State Error

A precise spindle is essential to achieve precision machining, such as diamond turning. A fluid driven spindle supported by hydrostatic bearings was thus designed and tested. A feature of the spindle is that several flow channels are designed in its rotor so that driving torque can be generated by supplying pressurized flow into the channels. Rotational speed of the spindle can be controlled by the flow rate. In addition, the rotational direction of the spindle can be controlled by switching supply ports. Thus angular position control of the spindle is achieved by designing appropriate feedback controller. In the present paper, mathematical model of the spindle was thus derived in order for designing an angular position control system. Then spindle characteristics calculated by the mathematical model were compared with experimental results. Furthermore, the angular position control system that has a disturbance observer in its feedback loop was designed based on the mathematical model. The performance of the designed control system was experimentally investigated through the step response. Experimental results verified that the designed controller minimizes the steady state error of angular position of the spindle. Consequently, the steady state error was comparable with the resolution of the rotary encoder, 0.018 degree. In particular, the experimental results indicated that the disturbance observer effectively reduced the influence of various load torque on the angular position of the spindle.

Hydraulic Position Control System With Variable Speed Pump

2009 ◽  
Author(s):  
Hakan C¸alıs¸kan ◽  
Tuna Balkan ◽  
Bu¨lent E. Platin
Keyword(s):  
Position Control ◽  
Time Windows ◽  
Open Loop ◽  
Step Response ◽  
Feedback Signal ◽  
Test Results ◽  
Variable Speed ◽  
Set Up ◽  
The Mathematical Model ◽  
Position Control System

In this study, a valveless energy saving hydraulic position control servo system controlled by two pumps is investigated. In this system, two variable speed pumps driven by servomotors regulate the flow rate through a differential cylinder according to the needs of the system, thus eliminating the valve losses. The mathematical model of the system is developed in MATLAB Simulink environment. A Kalman filter is applied to reduce the noise in the position feedback signal. In the test set up developed, open loop and closed loop frequency response and step response tests are conducted by using MATLAB Real Time Windows Target (RTWT) module, and test results are compared with the model outputs.

scholarly journals PWM Switching Strategy for Torque Ripple Minimization in BLDC Motor

2011 ◽  
Vol 62 (3) ◽  
pp. 141-146 ◽  
Author(s):  
Wael Salah ◽  
Dahaman Ishak ◽  
Khaleel Hammadi
Keyword(s):  
Pulse Width ◽  
Pulse Width Modulation ◽  
Position Control ◽  
Torque Ripple ◽  
Experimental Results ◽  
Bldc Motor ◽  
Switching Strategy ◽  
Rotor Position ◽  
Output Torque ◽  
Torque Ripples

PWM Switching Strategy for Torque Ripple Minimization in BLDC Motor This paper describes a new PWM switching strategy to minimize the torque ripples in BLDC motor which is based on sensored rotor position control. The scheme has been implemented using a PIC microcontroller to generate a modified Pulse Width Modulation (PWM) signals for driving power inverter bridge. The modified PWM signals are successfully applied to the next up-coming phase current such that its current rise is slightly delayed during the commutation instant. Experimental results show that the current waveforms of the modified PWM are smoother than that in conventional PWM technique. Hence, the output torque exhibits lower ripple contents.

scholarly journals Desain dan Konstruksi Sistem Kontrol Posisi pada Panel Surya dengan Menggunakan Smart Peripheral Controller(SPC)-Stepper Motor dan PC-Link Usber

2012 ◽  
Vol 12 (1) ◽  
pp. 21
Author(s):  
As'ari As'ari ◽  
Michael Kolondam
Keyword(s):  
Control System ◽  
Position Control ◽  
Solar Panel ◽  
Solar Light ◽  
Stepper Motor ◽  
Control System Design ◽  
System Control ◽  
Cross Section Area ◽  
Section Area ◽  
Position Control System

DESAIN DAN KONSTRUKSI SISTEM KONTROL POSISI PADA PANEL SURYA DENGAN MENGGUNAKAN SMART PERIPHERAL CONTROLLER(SPC)-STEPPER MOTOR DAN PC-LINK USBER ABSTRAK Telah didesain dan dirancang sistem pengontrol posisi panel surya terhadap sinar datang cahaya matahari dengan menggunakan SPC-Stepper Motor dan PC-Link USBer, sehingga diperoleh posisi panel surya yang selalu tegak lurus arah sinar datang cahaya matahari. Pengontrolan bidang penampang (panel surya) dilakukan menggunakan motor-stepper yang diprogram dengan bahasa pemrograman assembly. Data yang digunakan sebagai input diperoleh dengan pengukuran sudut datang sinar matahari, sehingga posisi panel surya selalu tegak lurus terhadap sinar datang cahaya matahari. Sistem pengontrol dapat bekerja pada step minimum 1 step (2,8°), dengan interval mulai dari 8 step sampai 50 step (pukul 07:00 sampai pukul 18:00). Kata kunci: Motor stepper, panel surya, system control   CONTROL SYSTEM DESIGN AND CONSTRUCTIONS  OF SOLAR PANEL BY USING SMART PERIPHERAL CONTROLLER (SPC)-STEPPER MOTOR AND PC-LINK USBER ABSTRACT Solar panel position control system to coming ray directions of solar light have been designed and constructed by using SPC-Stepper Motor and PC-Link USBer, so we had solar panel positions that always been rectangular to coming ray directions of solar light. Cross section area of solar panel controlled by using motor-stepper which programmed with assembly programming. Data used as input found by measuring of coming solar ray angles, so solar panel position always be rectangular to coming rays of solar lights. Contolled system could been done at minimum step of 1 steps (2.80),  the interval is 8 step to 50 step (at 07:00 to 18:00). Keywords: Stepper motor, solar panel, control system

Development of an Artificial Muscle Using PVC Gel

2011 ◽  
Author(s):  
Minoru Hashimoto
Keyword(s):  
Mathematical Model ◽  
Position Control ◽  
Artificial Muscle ◽  
Experimental Results ◽  
Control Element ◽  
Control Law ◽  
Poly Vinyl Chloride ◽  
Contraction Type ◽  
The Mathematical Model ◽  
Good Agreement

A poly vinyl chloride (PVC) gel actuator shows great potential for use as an artificial muscle because of such positive characteristics as movement in the air, large deformation, and being light in weight. A bending type actuator using PVC gel was studied previously. In order to construct an artificial muscle it is necessary to compose an actuator which has the characteristics of contraction type deformation. In the present paper we propose an electrode arrangement for a contraction type actuator using PVC gel. Also, we investigate the characteristics of the proposed actuator experimentally and show the effectiveness of the actuator as an artificial muscle. The experimental results showed that the contraction strain of the actuator was about 14%, the response rate was 7Hz, and the output stress was 4kPa. In order to apply the artificial muscle as a control element, we build a linear mathematical model of the electronic and mechanical characteristics. Based on the mathematical model, we design a control law of the PVC gel actuator. The control law is applied to the position control of the artificial muscle experimentally. The experimental results showed a good agreement with the simulated results using the mathematical model and an excellent performance in position control.

Position Control System of a Trunk in an Upward Airflow

2014 ◽  
Vol 657 ◽  
pp. 699-703
Author(s):  
Petru Gabriel Puiu ◽  
Daniel Drilea ◽  
Dragoş Iulian Nedelcu ◽  
Dragoș Andrioaia
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Physical Model ◽  
Position Control ◽  
Flow Simulations ◽  
Paper Work ◽  
Solid Works ◽  
The Mathematical Model ◽  
Position Control System ◽  
Made In

This paper work presents some aspects of modeling the behavior an object in an upward airflow with possible applications in pneumatic elevators. In the premises known from the literature, was formulated the physical model of corp behavior at air flow varying. In the first stage of the work, was completed in Solid Works the physical model and the functioning simulation in Flow Simulations. The imput data was provided in solving the mathematical model in Matcad 13. To achieve the control system was chose an open sources software solution with SCADA interface made in Pro wiew.

scholarly journals Experimental Simulation and Verification of Position Servo Control of Mechanical Rodless Cylinder

2020 ◽  
Vol 2 (2) ◽  
Author(s):  
Yeming ZHANG ◽  
Kaimin LI ◽  
Hongwei YUE ◽  
Shuangyang HE ◽  
Dongyuan LI ◽  
...  
Keyword(s):  
Position Control ◽  
Physical Structure ◽  
Pneumatic System ◽  
Experimental Simulation ◽  
Driving Voltage ◽  
Proportional Valve ◽  
Position Servo Control ◽  
Working Principle ◽  
The Mathematical Model ◽  
Valve Control

In order to improve the position control accuracy of rodless cylinder, the valve control cylinder system based on pneumatic proportional servo is studied deeply. According to the working principle of the mechanical rodless cylinder control system, under the condition of uniform speed, the driving voltage of the proportional valve is changed to measure multiple sets of friction force and corresponding velocity data. Analyzed the physical structure of each component in pneumatic system, established the mathematical model of pneumatic system, and introduced MATLAB system identification toolbox to identify the parameters of the transfer function. and the experiment verifies its correctness.

Simulation on Electro-Hydraulic Proportional Position Control System under Pressure Boundary Conditions

2011 ◽  
Vol 186 ◽  
pp. 21-25
Author(s):  
Jin Yu ◽  
Yuan Li ◽  
Xiao Kang Xu
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Boundary Conditions ◽  
Position Control ◽  
Step Response ◽  
Quick Response ◽  
Bode Diagram ◽  
The Mathematical Model ◽  
Pressure Boundary Conditions ◽  
Position Control System

Nowadays, the hydraulic straightening presses play an important role in straightening mandrels. For different mandrels, straightening forces and reductions differ. So the proportional position control system under pressure boundary conditions is required. The mathematical model of the system is deduced, and simulation of the system is carried out by MATLAB. The curves of step response and Bode diagram show that the system is steady and quick-response. The error caused by load is analyzed, which meets the straightening requirements and validates its design. The work in this paper can provide a high guidance for presses of similar kinds.

Research on Position Recognition and Control Method of Single-leg Joint of Hydraulic Quadruped Robot

2021 ◽  
Vol 14 ◽  
Author(s):  
Bingwei Gao ◽  
Hao Guan ◽  
Wenming Tang ◽  
Wenlong Han ◽  
Shilong Xue
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Pid Control ◽  
Control Algorithm ◽  
Position Control ◽  
Quadruped Robot ◽  
Identification Method ◽  
Indirect Identification ◽  
The Mathematical Model ◽  
Position Control System

: In order to obtain the precise mathematical model of the position control system of the hydraulic quadruped robot, and to meet the requirements of the system parameters in different stages of motion, this paper studies the position control system of the single-leg joint of the hydraulic quadruped robot: First of all, this paper uses the closed-loop indirect identification method to identify the position of the leg joints of the hydraulic quadruped robot to obtain the mathematical model of the system; And then, the speed PID control algorithm and speed planning algorithm are designed, so that the system can quickly respond to the changes of system input according to the requirements of different speeds; Finally, the joint position control system of the hydraulic quadruped robot is simulated and verified by experiments. Background: The mathematical model of the positioning system of the hydraulic quadruped robot is clear, but the parameters in the model have the characteristics of uncertainty and time-variation. In the joint position control system of a hydraulic quadruped robot, different motion stages have different requirements for system parameters. Objective: The purpose of this study is to obtain the precise mathematical model of the position control system of the hydraulic quadruped robot and to meet the requirements of the system parameters in different stages of motion. Method: This research takes the hydraulic quadruped robot single-leg system as the research object and uses the closed-loop indirect identification method to identify the position of the leg joints of the hydraulic quadruped robot to obtain the mathematical model of the system. Then, the speed PID control method is designed and compared with the ordinary PID control by taking the positioning control accuracy of the robot before touching the ground as a standard to carry out the controlled trial. Results: In this research, the identification method and control algorithm are designed, and finally, the simulation and experimental research are carried out. The results of the simulation and experiment verify the correctness of the identification method and the effectiveness of the control algorithm. Conclusion: First of all, this paper uses the closed-loop indirect identification method to identify the position of the leg joints of the hydraulic quadruped robot to obtain the mathematical model of the system. Then, the speed PID control algorithm and speed planning algorithm are designed so that the system can quickly respond to the changes of system input according to the requirements of different speeds.

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