Sliding Mode Motion Control of a Pneumatic Cylinder

2004 ◽  
Author(s):  
Syed Shah Jalal ◽  
Celal Batur
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Pneumatic Cylinder ◽  
Position Tracking ◽  
Control Performance ◽  
Non Linear ◽  
Pneumatic Servo System ◽  
Flow Through ◽  
Series Of Experiments ◽  
Linear Controllers

This paper presents simulation and implementation of a sliding mode controller on a pneumatic servo system. Typical controllers for pneumatic systems are fixed gain linear controllers. This study incorporates the non-linear characteristics of the pneumatic actuator into the controller design. A detailed mathematical model of a single ended pneumatic cylinder driven by a servo valve is developed. Effects of non-linear air flow through the valve, compressibility in the cylinder chambers and the residual volume of the connecting pipes are carefully considered. Both viscous and Coulomb frictions within the cylinder have been taken into account. A position tracking sliding mode control strategy is developed and implemented. A series of experiments and simulations are performed to show that the control performance is satisfactory in both tracking and regulation.

Position Tracking of a Pneumatic Actuator Using Backstepping-Sliding Mode Control With Adaptive Friction Observer

2013 ◽  
Author(s):  
Ramhuzaini Abd. Rahman ◽  
Nariman Sepehri
Keyword(s):  
Adverse Effect ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Pneumatic Cylinder ◽  
Position Tracking ◽  
Pneumatic Actuators ◽  
Mode Control ◽  
Pneumatic Servo System ◽  
Backstepping Sliding Mode Control ◽  
Friction Observer

In this paper, an enhanced sliding mode control (SMC)-based controller known as backstepping-sliding mode control (B-SMC) with an adaptive friction observer is proposed for position tracking control of pneumatic actuators. The adverse effect of friction encountered in the pneumatic actuators which play a major role in pneumatic servo system is highlighted and a solution to rectify this is proposed using an adaptive LuGre-based friction observer for friction compensation. The B-SMC is experimentally applied, for the first time, on a double-acting single-rod industrial pneumatic cylinder. Comprehensive derivation as well as stability proof of the controller is presented. The performance of B-SMC with and without the friction observer is experimentally investigated. From the results, it is clearly observed that the B-SMC with the adaptive friction observer performs better (i.e. reduces the tracking as well steady-state errors of up to 30%) than the one without friction observer. Thus, the adaptive friction observer of B-SMC is identified as the key element that improved the control performance by compensating the adverse effect of friction during the position tracking tasks.

Analysis of an Opto-Pneumatic Control System and Improvement of its Control Performance

1999 ◽  
Vol 11 (4) ◽  
pp. 251-257 ◽  
Author(s):  
Tetsuya Akagi ◽  
◽  
Shujiro Dohta ◽  
Hisashi Matsushita ◽  
Keyword(s):  
Control System ◽  
Position Control ◽  
Sliding Mode ◽  
Pneumatic Cylinder ◽  
Control Performance ◽  
Pneumatic Control ◽  
Servo Valve ◽  
Proposed Model ◽  
Control Scheme

This paper describes an analysis of an opto-pneumatic control system and an improvement of control performance of the system. The opto-pneumatic system consists of an optical servo valve, a pneumatic cylinder and a cart. First, we built an analytical model of the system considering a nonlinear friction where exists in sliding parts. And we confirmed the validity of the proposed model by comparing theoretical results with experimental results of the characteristics of optical servo valve and cart position control. Then, we applied a sliding mode control scheme compensating a steady-state disturbance to multi- position control and follow-up control of a cart. By computer simulation, we confirmed that the control performance of opto-pneumatic control system was improved by using this control scheme.

Performance Analysis of Controller Design for DC-DC Buck Converter Using Linear and Non Linear Technique

2015 ◽  
Vol 719-720 ◽  
pp. 417-425 ◽  
Author(s):  
Husan Ali ◽  
Xian Cheng Zheng ◽  
Shahbaz Khan ◽  
Waseem Abbas ◽  
Dawar Awan
Keyword(s):  
Output Voltage ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Input Voltage ◽  
Buck Converter ◽  
Linear Control ◽  
Control Technique ◽  
Control Techniques ◽  
Non Linear

The switched mode dc-dc converters are some of the most widely used power electronics circuits because of high conversion efficiency and flexible output voltage. Many methods have been developed for the control of dc-dc converters. This paper deals with design of controller for dc-dc buck converter using various control techniques. The first two control techniques are based on classical or linear control methods i.e. PI and PID control, while the other two control technique are based on non linear control method i.e. Sliding Mode Control (SMC) and Sliding Mode Proportional Integral Derivative Control (SMC-PID). The output voltage and the inductor current of the applied control techniques are analyzed and compared in transient and steady state region. Also the robustness of the buck converter system is tested for load changes and input voltage variations. Matlab/Simulink is used for the simulations. The detailed simulation results are presented, which compare the performance of the designed controllers for various cases. The results show that the non linear control for DC/DC Buck converter proves to be more robust than linear control especially when dynamic tests are applied.

scholarly journals A Robust Payload Control System Design for Offshore Cranes: Experimental Study

Electronics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 462
Author(s):  
Hwan-Cheol Park ◽  
Soumayya Chakir ◽  
Young-Bok Kim ◽  
Dong-Hun Lee
Keyword(s):  
Control System ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Control Technique ◽  
Parametric Uncertainties ◽  
Control Performance ◽  
Robust Control System ◽  
Reliable Performance ◽  
Offshore Crane

This paper presents a robust controller design of payload position control for an offshore crane facing disturbance and parametric uncertainties. The offshore operations with cranes while lifting and lowering a payload can be dangerous since safety and efficiency are affected by waves, wind and ocean currents. Such harsh sea conditions put the offshore crane and payload through unwanted disturbances and parametric uncertainties, which requires a robust control system to guarantee reliable performance of these systems. In this paper, we detail a controller designed based on uniformly ultimately bounded (UUB) theory, combined with the input-output linearization control technique (IOLC). The stability of the closed-loop system under the UUB conditions is analyzed using the energy-based Lyapunov function. To evaluate the control performance of the proposed controller, along with an IOLC and an integral sliding mode controller (ISMC), a comparison study is also conducted. The control performance and efficiency of the proposed controller are validated through experiments on an offshore crane model.

scholarly journals Study on Control Performance with Consideration of Articulated Manipulators with Pneumatic Cylinders

2014 ◽  
Vol 8 (2) ◽  
pp. 159-168 ◽  
Author(s):  
Eiji Murayama ◽  
◽  
Yoshiyuki Yogosawa ◽  
Yukio Kawakami ◽  
Akiyoshi Horikawa ◽  
...  
Keyword(s):  
Experimental Data ◽  
Dead Time ◽  
Servo System ◽  
Pneumatic Cylinder ◽  
Structural Flexibility ◽  
Control Performance ◽  
Pressure Sensitive ◽  
Pneumatic Servo System ◽  
Sensitive Sensor ◽  
Pneumatic Cylinders

We have developed new articulated manipulators with compact pneumatic cylinders and high levels of structural flexibility and safety by adopting new structures. When a pneumatic cylinder is used as an actuator, mechanical friction and dead time are the main problems manifesting in the pneumatic servo system. In this study, we first designed nominal models of articulated manipulators using experimental data on a closedloop system. Thereafter, we analyzed the kinematics of the manipulators and examined the method of generating the trajectory of a manipulator’s fingertip. Finally, we conducted simulation and experiments on the articulated manipulators we developed to understand their positional controllability. Furthermore, we experimentally evaluated the pressure-sensitive sensor embedded in the fingertip, the results of which are also reported in this paper.

scholarly journals Design and Analysis of a Voltage-Mode Non-Linear Control of a Non-Minimum-Phase Positive Output Elementary Luo Converter

Electronics ◽  
2022 ◽  
Vol 11 (2) ◽  
pp. 207
Author(s):  
Satyajit H. Chincholkar ◽  
Sangmesh V. Malge ◽  
Sanjaykumar L. Patil
Keyword(s):  
Output Voltage ◽  
Controller Design ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Current Mode ◽  
Voltage Regulation ◽  
State Variables ◽  
Boost Converters ◽  
Non Linear ◽  
Voltage Feedback

The positive output elementary Luo (POEL) converter is a fourth-order DC–DC converter having highly non-linear dynamic characteristics. In this paper, a new dynamic output voltage feedback controller is proposed to achieve output voltage regulation of the POEL converter. In contrast to the state-of-the-art current-mode controllers for the high-order boost converters, the proposed control strategy uses only the output voltage state variable for feedback purposes. This eliminates the need for the inductor current sensor to reduce the cost and complexity of implementation. The controller design is accompanied by a strong theoretical foundation and detailed stability analyses to obtain some insight into the controlled system. The performance of the proposed controller is then compared with a multi-loop hysteresis-based sliding-mode controller (SMC) to achieve the output voltage-regulation of the same POEL converter. The schemes are compared concerning ease of implementation, in particular, the number of state variables and current sensors required for implementation and the closed-loop dynamic performance. Experimental results illustrating the features of both controllers in the presence of input reference and load changes are presented.

scholarly journals Design of Sliding Mode Controlled Bi-directional DC-DC Current Source Resonant Converter for an Inductive Contactless Battery Charging Application

2020 ◽  
Vol 8 (6) ◽  
pp. 1050-1053
Keyword(s):  
Reactive Power ◽  
Controller Design ◽  
Sliding Mode ◽  
Setting Time ◽  
Current Source ◽  
Coupling Factor ◽  
Adaptive Sliding Mode Control ◽  
Prototype Model ◽  
Battery Charging ◽  
Non Linear

The practical use of current source DC-DC resonant converters has an outstanding performance in terms of its robust and fast performance. In this paper, the non-linear behavior during the battery charging application is solved using an adaptive Sliding Mode Control (SMC) technique. The SMC has a robust feature in fast transient responses over large load disturbances. The proposed converter uses Contactless Energy Transfer (CET) system that provides a suitable reactive power compensation for the design. The winding parameters of the inductance are mathematically modeled with low coupling factor to remove the voltage and current harmonics. The designed converter is subjected to input side perturbation for a non-linear disturbance and the output obtained using the Sliding Mode Controller is analysed. The non-linearity at the output voltage is reduced when using the SMC. The controller design show the setting time of the DC voltage under such disturbance is reduced to 97%. The proposed system is mathematically modeled and simulated using MATLAB/Simulink. The prototype model is designed and the results are analyzed.

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