Pneumatic Rotary Actuator Positioning System with TS-PVDDP Control Strategy
Pneumatic rotary actuator is an actuating device of rotation motion widely used in pneumatic systems. In application, there are a lot of requirements for its randomly intermediate positioning according to operation tasks. For this, it is considered that the servo control technology is comparatively suitable for this angular positioning. However, due to the smaller stroke and larger friction torque of the pneumatic rotary actuator, together with pneumatic systems inherent nonlinearities, it is very difficult to implement angular position servo control with high performance. In this paper, a new control strategy is proposed for the pneumatic rotary actuator position servo system using proportional flow valves as the control devices. First, to minimize the influence of the nonlinear property of the proportional valve, a nonlinear compensation method is used, by which the effective area of the proportional flow valve openings can be processed to be linear with the control signal. With this compensation method, the system characteristics can be improved and the control of the system can be facilitated. Then, in order to make the system adaptable to the variations of the operating positions and payloads, a TS-PVDDP controller (position plus velocity plus derivative of the differential pressure feedback control based-on the Takagi-Sugeno model) is proposed, which is formed by combining Takagi-Sugeno fuzzy model with PVDDP control. The parameters of the TS-PVDDP controller can be self-tuned with the variations of the working conditions. Finally, to verify the proposed control strategy, which combines TS-PVDDP control with the nonlinear compensation method, a lot of experiments have been carried out. Experimental results have shown better control performance for any positions within the stroke and any payloads in a certain range, that is, ±0.5° positioning accuracy, zero or very little overshoot, less than 1.5s response time, and smooth dynamic process
pneumatic rotary actuator pneumatic servo system takagi-sugeno fuzzy model proportional flow valve
Bai Yanhong Li Xiaoning
School of Electronics Information Engineering, Taiyuan University of Science and Technology,Taiyuan, SMC Pneumatics (Nanjing) Center, School of Mechanical Engineering, Nanjing University of Science and
国际会议
北戴河
英文
1057-1062
2007-06-06（万方平台首次上网日期，不代表论文的发表时间）