Abstract
Automatic positioning devices are worldwide used in tasks like handling or assembly, making them key components of modern manufacturing systems. Pneumatic solutions are usually less expensive than their electrical counterparts, are more reliable and require less maintenance. However, the complex nonlinear nature and high model order of pneumatic systems lead to a very difficult control task. This paper illustrates these difficulties by presenting a study where several linear controllers are experimentally tested. In fact, despite their simplicity, these controllers can lead to undesired oscillations in the system output. The causes of these oscillations are described and justified in detail.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
T. Kagawa, L. Tokashiki, T. Fujita, Accurate positioning of a pneumatic servosystem with air bearings, in Proc. of the Bath Workshop on Power Transmission and Motion Control (2000), pp. 257–268
D. Thomasset, S. Scavarda, S. Sesmat, M. Belgharbi, Analytical model of the flow stage of a pneumatic servo-distributor for simulation and nonlinear control, in Proc. of the Sixth Scandinavian International Conference on Fluid Power (1999), pp. 848–860
J.F. Carneiro, F.G. de Almeida, Modeling pneumatic servovalves using neural networks, in Proc. of the 2006 IEEE Conference on Computer Aided Control Systems Design (2006), pp. 790–795
J.F. Carneiro, F.G. de Almeida, Pneumatic servovalve models using artificial neural networks, in Proc. of the Bath Symposium on Power Transmission and Motion Control (2006), pp. 195–208
J.F. Carneiro, F.G. de Almeida, Reduced order thermodynamic models for servopneumatic actuator chambers. J. Syst. Control Eng. 220(4), 301–314 (2006). Proc. Inst. Mech. Eng., Part I
J.F. Carneiro, F.G. de Almeida, Heat transfer evaluation on industrial pneumatic cylinders. J. Syst. Control Eng. 221(1), 119–128 (2007). Proc. Inst. Mech. Eng., Part I
J.F. Carneiro, F.G. de Almeida, Comparação entre dois modelos do atrito num sistema servopneumático, in Proc. 8° Congresso Iberoamericano de Engenharia Mecânica (2007)
F. Xiang, J. Wikander, Block-oriented approximate feedback linearization for control of pneumatic actuator system. Control Eng. Pract. 12(4), 387–399 (2004)
J.F. Carneiro, Modelação e controlo de actuadores pneumáticos utilizando redes neuronais artificiais, PhD Thesis, University of Porto, 2007
B. Armstrong-Hélouvry, B. Amin, PID control in the presence of static friction: exact and describing function analysis, in Proc. Proceedings of the American Control Conference (1994), pp. 597–601
B. Armstrong-Hélouvry, B. Amin, PID control in the presence of static friction: a comparison of algebraic and describing function analysis. Automatica 32(5), 679–692 (1996)
H. Olsson, K. Astrom, Friction generated limit cycles. IEEE Trans. Control Syst. Technol. 9(4), 629–636 (2001)
X. Brun, S. Sesmat, D. Thomasset, S. Scavarda, Study of “Sticking and Restarting Phenomenon” in electropneumatic positioning systems. ASME J. Dyn. Syst. Meas. Control 127(1), 173–184 (2005)
S. Pandian, Y. Hayakawa, Y. Kanazawa, Y. Kamoyama, S. Kawamura, Practical design of a sliding mode controller for pneumatic actuators. ASME J. Dyn. Syst. Meas. Control 119(4), 666–674 (1997)
S. Drakunov, G.D. Hanchin, W.C. Su, U. Ozguner, Nonlinear control of a rodless pneumatic servoactuator, or sliding modes versus Coulomb friction. Automatica 33(7), 1401–1408 (1997)
S. Pandian, F. Takemura, Y. Hayakawa, S. Kawamura, Pressure observer-controller design for pneumatic actuators. IEEE/ASME Trans. Mechatron. 7(4), 490–499 (2002)
E. Richard, De la commande lineaire et non lineaire en position des systems electropneumatiques, PhD Thesis, Institut National des Sciences Appliqués de Lyon, 1990
E. Richard, S. Scavarda, Comparison between linear and nonlinear control of an electropneumatic servodrive. ASME J. Dyn. Syst. Meas. Control 118(2), 245–252 (1996)
E. Richer, Y. Hurmuzlu, A high performance pneumatic force actuator system: Part I—nonlinear mathematical model. ASME J. Dyn. Syst. Meas. Control 122(3), 416–425 (2000)
E. Richer, Y. Hurmuzlu, A high performance pneumatic force actuator system: Part II—nonlinear controller design. ASME J. Dyn. Syst. Meas. Control 122(3), 426–434 (2000)
J.J. Slotine, W. Li, Applied Nonlinear Control (Prentice-Hall, New York, 1991)
H. Merritt, Hydraulic Control Systems (Wiley, New York, 1967)
K. Ogata, Modern Control Engineering (Prentice-Hall, New York, 2001)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer Science+Business Media B.V.
About this chapter
Cite this chapter
Falcão Carneiro, J., Gomes de Almeida, F. (2011). Undesired Oscillations in Pneumatic Systems. In: Machado, J., Luo, A., Barbosa, R., Silva, M., Figueiredo, L. (eds) Nonlinear Science and Complexity. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9884-9_28
Download citation
DOI: https://doi.org/10.1007/978-90-481-9884-9_28
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-9883-2
Online ISBN: 978-90-481-9884-9
eBook Packages: EngineeringEngineering (R0)