A High Performance Pneumatic Force Actuator System Part 1 - Nonlinear Mathematical Model ∗
نویسنده
چکیده
In this paper, we developed a detailed mathematical model of dual action pneumatic actuators controlled with proportional spool valves. Effects of nonlinear flow through the valve, air compressibility in cylinder chambers, leakage between chambers, end of stroke inactive volume, and time delay and attenuation in the pneumatic lines were carefully considered. System identification, numerical simulation and model validation experiments were conducted for two types of air cylinders and different connecting tubes length, showing very good agreement. This mathematical model will be used in the development of high performance nonlinear force controllers, with applications in teleoperation, haptic interfaces, and robotics.
منابع مشابه
A High Performance Pneumatic Force Actuator System Part 2 - Nonlinear Controller Design ∗
I this article we developed two nonlinear force controllers based on the sliding mode control theory. We used the detailed mathematical model of a pneumatic system developed in the first part of the paper. The first controller uses the complete model, and exhibit superior performance both in the numerical simulation and experiments, but requires very complex online computation for the control l...
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