Dynamic Behavior of Pneumatic Systems for Lower Extremity Extenders
نویسندگان
چکیده
AbstructThis article models a pneumatic system consisting of double-acting or single acting cylinder and a servovalve with the goal of providing an insight into pneumatic design and control requirements for Berkeley Exoskeleton (ht<v://wwu..me. berkeZev.edu/heZ/). The modeling approach uses the thermodynamic principles of energy and mass conservation. We demonstrate that pneumatic systems suffer from two effects: unwanted dynamics due to gas compressibility and discontinuous nonlinearties in the servovalves due to choked flow. To obtain a wide control bandwidth, one needs to model these effects thoroughly. Keywords-Pneumatics Modeling, Control, Exoskeletons
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