Modares Mechanical Engineering

Modares Mechanical Engineering

Comparing performance of two different pneumatic circuits in the presence of nonlinear controller with optimal parameters

Authors
Vahideh Vahidifar 1
mostafa taghizadeh 2
Vahid Fakhari 3
Pedram Safarpour 4
1 MSc Student, Faculty of Mechanical and Energy Engineering, Shahid Beheshti University
2 Faculty Member, Faculty of Mechanical and Energy Engineering, Shahid Beheshti University
3 Assistant Professor, Faculty of Mechanical and Energy Engineering, Shahid Beheshti University
4 Assistant Professor, Faculty of Mechanical and Energy Engineering, A.C., Shahid Beheshti University
Abstract
In this paper, control position of a pneumatic actuator with the PWM solenoid on/off valves using two different pneumatic circuits performed. After deriving the governing dynamic equations, to investigate the circuit effect on system performance, mentioned two pneumatic circuits are introduced. Then in order to control the position of the pneumatic actuator, for both circuits, sliding mode and proportional-integral-derivative controllers are designed. In proceeding, optimum controller parameters are determined by genetic algorithm to achieve minimum control energy and position error. Finally, by performing simulations in Matlab Simulink, performance of designed controllers with optimal parameters is evaluated and compared in the presence of disturbance. According to the obtained results, by comparing the performance of two circuits, it is observed that the first pneumatic circuit with two solenoid valves can track the high-frequency sine reference input better and more precisely in the presence of a nonlinear sliding mode controller. The position tracking error in low-frequency sine reference input using a classic proportional-integral-derivative controller, for a single-valve pneumatic circuit is considerably less than that of a pneumatic circuit of two valves. This indicates the input-output quasi linear behavior of the pneumatic actuator in a single-valve circuit.
Keywords
Pneumatic actuator
Position Control
Sliding mode controller
PWM Excitation
genetic algorithm

Subjects

[1] P. R .Moore, J. S. Pu, Pneumatic Servo Actuator Technology, IEE Colloquium: Actuator Technology: current practice And New developments. Vol.1.No,1 ,pp. 3/1-3/6,1996.
[2] S. Liu, J. E. Bobrow, An analysis of a pneumatic servo system and its Application to a computer-controlled robot, ASME Journal of Dynamic Systems, Measurement and Control, vol. 110, pp. 228-235. September 1988.
[3] H. K. Lee, G. S. Choi, G. H. Choi., A study on tracking position control of pneumatic actuators, Mechatronics, vol. 12, pp. 813-831, 2002.
[4] Y. C. Tsai and A. C. Huang, Multiple-surface sliding controller design for pneumatic servo systems, Mechatronics, vol. 18, pp. 506-512, 2008.
[5] M. Smaoui, X. Brun, D. Thomasset, High order sliding mode for an electropneumatic system: A robust differentiator–controller design, International Journal of Robust and Nonlinear Control, vol. 18, pp. 481-501, 2008.
[6] S. Das, B. Bandyopadyay, A.K. Paul and P. Trivedi, Position control of pneumatic actuator using sliding mode control in conjunction with Robust Exact Differentiator, International Conference on Control, Automation, Robotics and Embedded Systems (CARE), Jabalpur, India, pp. 1 – 6, 16-18 December 2013.
[7] J. Ueda, M. Turkseven, Observer Based Impedance Control of a Pneumatic System with Long Transmission Lines. IEEE International Conference on Robotics and Automation.2016.
[8] S. Goldstein , H. Richardson, A differential pulse-width modulated pneumatic servo utilizing floating flapper disc switching valves, ASME Transaction Journal of Basic Ejgineering, Series C, Vol. 90, No. 2, pp. 143-151, 1968.
[9] R. B. Varseveld, G.M. Bone, Accurate Position Control of a Pneumatic Actuator Using On/Off Solenoid Valves, IEEE/ASME Transactions on Mechatronics,Vol.2,No. 3, pp. 195-204. 1997.
[10] M. Taghizadeh, A. Ghaffari, F. Najafi, Modeling and identification of a solenoid valve for PWM control applications, Comptes Rendus Mecanique, Vol. 337, No. 3, pp. 131–140, 2009.
[11] M. Taghizadeh, A. Ghaffari, F. Najafi, Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit, ISA Transaction, Vol. 48, No. 4, pp. 512–518, 2009.
[12] E. Richer, Y. Hurmuzlu, A High Performance Pneumatic Force Actuator System, Part 1, Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, Vol. 122, No. 3, pp. 416-435, 2000.
[13] T. Dominik Gwiazda, Genetic Algorithms Reference Paperback – July 31, 2006.
Modares Mechanical Engineering
Volume 18, Issue 9
December 2018
Pages 242-252