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Journal of Zhejiang University SCIENCE A 2001 Vol.2 No.2 P.128~131

http://doi.org/10.1631/jzus.2001.0128


RESEARCH ON THE CONTINUOUS POSITIONING CONTROL TO SERVO-PNEUMATIC SYSTEM


Author(s):  TAO Guo-liang, WANG Xuan-yin, LU Yong-xiang

Affiliation(s):  The State Key Laboratory of Fluid Power Transmission and Control of Zhejiang University,Hangzhou 310027, China

Corresponding email(s): 

Key Words:  mathematical model, servo-pneumatic, robot, positioning

This article has been corrected, see doi:10.1631/jzus.2001.e128


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TAO Guo-liang, WANG Xuan-yin, LU Yong-xiang. RESEARCH ON THE CONTINUOUS POSITIONING CONTROL TO SERVO-PNEUMATIC SYSTEM[J]. Journal of Zhejiang University Science A, 2001, 2(2): 128~131.

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A1 - LU Yong-xiang
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Abstract: 
Pneumatic driven system has been widely used in industrial automation mainly for relatively simply tasks with open-loop control. With regard to closed-loop controlled axes in robotics, servo-electric driven systems have been dominant up to now. This paper introduces a new closed-loop control servo-pneumatic system that can do continuous positioning. The mathematical model of the servo-pneumatic system was developed accurately through analysis of the flow characteristics of the proportional flow valve and the friction of the cylinder. The optimum control strategy with friction compensation is presented in this paper. Experiments demonstrate that the servo-pneumatic system has excellent tracking characteristics and can rival the expensive servo-electric system in many areas of industrial control.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

This article has been corrected, see doi:10.1631/jzus.2001.e128

Reference

[1] Bobrow, J. E., McDonell, B. W., 1998. Modeling identification and control of a pneumatically actuated, force controllable robot. IEEE Transactions on Robotics and Automation,14(10): 732-741.

[2] Sanville, F.E., 1971. A new method of specifying the flow capacity of pneumatic fluid power valve. Second Fluid Power Symposium, BHAR, England, Paper D3, p.37-47.

[3] Tokashiki, Luis R., 1999. Stick-slip motion in pneumatic cylinder drive by meter-out circuit. Journal of the Japan Hydraulics & Pneumatics Society, 30(7): 110-117.

[4] Yang Qinghai, Kawakami Yukio, Kawai Sunao, 1997. Position control of a pneumatic cylinder with friction compensation. Journal of the Japan Hydraulics & Pneumatics Society, 28(2): 245.

[5] Zhou, H., 1999. Electro-pneumatic servo control system and its application. Chinese Hydraulics & Pneumatics, 101(1):18-21(in Chinese, with English abstract).

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