Pneumatic cylinders: modelling and feedback force-control
نویسندگان
چکیده
منابع مشابه
Pneumatic cylinders: modelling and feedback force-control
In this paper, we model, analyze, and control an experimental set-up of a servo pneumatic cylinder. The dynamic behaviour of pneumatic actuator systems is dominant by nonlinear functions. First, a mathematical model for the pneumatic system is derived. Secondly, we investigate the mathematical properties of this model and show boundedness and positiveness of certain variables. Thirdly, we prove...
متن کاملA Sliding Mode Fuzzy Force Tracking Controller for Pneumatic Cylinders
The problem of control of force exerted by pneumatic cylinders on the environment is of interest in industrial automation and systems such as legged robots. In this paper, a sliding mode fuzzy force control algorithm is proposed for pneumatic cylinders. The environment is assumed to be “soft” or compliant and modeled as a spring. The advantage of the new controller is that being based on fuzzy ...
متن کاملDevelopment of Energy Efficient Optimal Control for Servo Pneumatic Cylinders
Abstract The paper conducts energy efficiency analysis of servo pneumatic actuator systems and presents a method of energy efficient optimal control. The system is linearised through input/output state feedback and then energy efficient optimal control theory is applied to the linearised system. An optimal control strategy is developed with respect to the transformed states of the linear system...
متن کاملSimultaneous Force and Stiffness Control of a Pneumatic Actuator
This paper proposes a new approach to the design of a robot actuator with physically variable stiffness. The proposed approach leverages the dynamic characteristics inherent in a pneumatic actuator, which behaves in essence as a series elastic actuator. By replacing the four-way servovalve used to control a typical pneumatic actuator with a pair of three-way valves, the stiffness of the series ...
متن کاملForce Feedback Gesture Controlled Physical Modelling Synthesis
A physical modelling music synthesis system known as ‘Cymatic’ is described that enables ‘virtual instruments’ to be controlled in real-time via a force-feedback joystick and a force-feedback mouse. These serve to provide the user with gestural controllers whilst in addition giving tactile feedback to the user. Cymatic virtual instruments are set up via a graphical user interface in a manner th...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Control
سال: 2006
ISSN: 0020-7179,1366-5820
DOI: 10.1080/00207170600645875