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The use of models in the motion control of pneumatic and electric drives

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Abstract

With the aim of achieving improved motion control, modelling and control methods for pneumatic and electric drives are considered. The use of both conceptual and analytic models for controlling single-degree-of-freedom pneumatic and electric modules is reported, supported by experimental results. The approaches described relate to a research programme which has evolved a novel family of modular machine elements that can be aggregated to form a wide variety of types of manufacturing machine.

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Abbreviations

A :

effective piston area

d :

the control signal

ë, e, e :

acceleration, velocity and position errors

f :

coefficient of viscous friction

F :

external force

F c :

column friction (sliding friction)

k p ,k v ,k a ,k i :

position, velocity, acceleration and integral loop gains

K s :

load stiffness

l :

half-length of the stroke for pneumatic cylinders

m :

mass of gas in pneumatic control chambers

m e :

equivalent mass of the motor, transmission and load

M :

piston mass (including load) for pneumatic cylinders

N :

gas-flow parameter

p :

chamber pressure

p c :

exhaust pressure

p s :

supply pressure

R :

ideal gas constant

T :

absolute chamber temperature

V :

chamber volume

x :

piston position (relative to mid-position of cylinder stroke)

ωn :

natural frequency

ξ:

damping ratio

a:

refers to the control chamber on the supply side

b:

refers to the control chamber on the exhaust side

s:

denotes a steady state (when used together with another subscript)

References

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Authors and Affiliations

  1. Department of Manufacturing Engineering, Loughborough University, LE11 3TU, Loughborough, Leicestershire, UK

    J. Pu & R. H. Weston

  2. Department of Electronics, University of Hull, HU6 7RX, Hull, UK

    G. Rogers

Authors
  1. J. Pu
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  2. G. Rogers
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  3. R. H. Weston
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Pu, J., Rogers, G. & Weston, R.H. The use of models in the motion control of pneumatic and electric drives. Int J Adv Manuf Technol 4, 349–368 (1989). https://doi.org/10.1007/BF02604335

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  • DOI: https://doi.org/10.1007/BF02604335

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