scholarly journals Nonlinear Mathematical Modeling in Pneumatic Servo Position Applications

2011 ◽  
Vol 2011 ◽  
pp. 1-16 ◽  
Author(s):  
Antonio Carlos Valdiero ◽  
Carla Silvane Ritter ◽  
Cláudio Fernando Rios ◽  
Marat Rafikov
Keyword(s):  
Mathematical Modeling ◽  
Low Cost ◽  
Dead Zone ◽  
Dynamic Performance ◽  
Nonlinear Dynamic System ◽  
Pneumatic Actuator ◽  
Pneumatic Actuators ◽  
Precise Control ◽  
Behavior Study ◽  
Fifth Order

This paper addresses a new methodology for servo pneumatic actuators mathematical modeling and selection from the dynamic behavior study in engineering applications. The pneumatic actuator is very common in industrial application because it has the following advantages: its maintenance is easy and simple, with relatively low cost, self-cooling properties, good power density (power/dimension rate), fast acting with high accelerations, and installation flexibility. The proposed fifth-order nonlinear mathematical model represents the main characteristics of this nonlinear dynamic system, as servo valve dead zone, air flow-pressure relationship through valve orifice, air compressibility, and friction effects between contact surfaces in actuator seals. Simulation results show the dynamic performance for different pneumatic cylinders in order to see which features contribute to a better behavior of the system. The knowledge of this behavior allows an appropriate choice of pneumatic actuator, mainly contributing to the success of their precise control in several applications.

Development of Low-Cost Wearable Servo Valve Using Buckled Tube Driven by Servo Motor

2013 ◽  
Vol 393 ◽  
pp. 532-537 ◽  
Author(s):  
Abdul Nasir ◽  
Tetsuya Akagi ◽  
Shujiro Dohta ◽  
Ayumu Ono ◽  
Yusuke Masago
Keyword(s):  
Control System ◽  
Flow Rate ◽  
Position Control ◽  
Low Cost ◽  
Control Valve ◽  
Artificial Muscle ◽  
Pneumatic Actuators ◽  
Servo Valve ◽  
Precise Control ◽  
Care Systems

Recently, power assisted nursing care systems have received much attention and those researches have been done actively. In such a control system, an actuator and a control valve are mounted on the human body. Designing the system, the size and weight of the valve become serious concerns. The purpose of our study is to develop a small-sized, lightweight and low-cost servo valve for precise control using wearable pneumatic actuators. In this study, a low-cost wearable servo valve that can control the output flow rate by changing the twisted angle of the buckled tube in the servo valve is proposed and tested. The position control system of McKibben rubber artificial muscle using tested valve and embedded controller is also proposed and tested. As a result, we confirmed that the tested servo valve can control the flow rate in both supply and exhaust in an analog way. In addition, the estimated cost of the proposed valve can be reduced about 100 times cheaper (10 US Dollar) compared with the typical servo valve.

scholarly journals Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application

Micromachines ◽  
2021 ◽  
Vol 12 (12) ◽  
pp. 1593
Author(s):  
Shumi Zhao ◽  
Yisong Lei ◽  
Ziwen Wang ◽  
Jie Zhang ◽  
Jianxun Liu ◽  
...  
Keyword(s):  
Structural Design ◽  
Air Pressure ◽  
Pneumatic Actuator ◽  
Artificial Joint ◽  
Artificial Joints ◽  
Pneumatic Actuators ◽  
Technical Parameters ◽  
Precise Control ◽  
Motion Range ◽  
Bending Mechanism

To precisely achieve a series of daily finger bending motions, a soft robotic finger corresponding to the anatomical range of each joint was designed in this study with multi-material pneumatic actuators. The actuator as a biomimetic artificial joint was developed on the basis of two composite materials of different shear modules, and the pneumatic bellows as expansion parts was restricted by frame that made from polydimethylsiloxane (PDMS). A simplified mathematical model was used for the bending mechanism description and provides guidance for the multi-material pneumatic actuator fabrication (e.g., stiffness and thickness) and structural design (e.g., cross length and chamber radius), as well as the control parameter optimization (e.g., the air pressure supply). An actuation pressure of over 70 kPa is required by the developed soft robotic finger to provide a full motion range (MCP = 36°, PIP = 114°, and DIP = 75°) for finger action mimicking. In conclusion, a multi-material pneumatic actuator was designed and developed for soft robotic finger application and theoretically and experimentally demonstrated its feasibility in finger action mimicking. This study explored the mechanical properties of the actuator and could provide evidence-based technical parameters for pneumatic robotic finger design and precise control of its dynamic air pressure dosages in mimicking actions. Thereby, the conclusion was supported by the results theoretically and experimentally, which also aligns with our aim to design and develop a multi-material pneumatic actuator as a biomimetic artificial joint for soft robotic finger application.

Adaptive Pneumatic Force Actuation and Position Control

1991 ◽  
Vol 113 (2) ◽  
pp. 267-272 ◽  
Author(s):  
J. E. Bobrow ◽  
F. Jabbari
Keyword(s):  
Position Control ◽  
Low Cost ◽  
Equations Of Motion ◽  
Pneumatic Actuator ◽  
Unit Weight ◽  
Force Output ◽  
Nonlinear Characteristics ◽  
Pneumatic Actuators ◽  
Highly Nonlinear ◽  
High Bandwidth

In this paper an implementation of an adaptive control law for a pneumatic actuator is presented. Pneumatic actuators are of particular interest for robotic applications because of their large force output per unit weight, and their low cost. Stabilization of a pneumatic actuator is difficult if a high bandwidth closed-loop system is desired. This is because of the compressibility of air, and of the nonlinear characteristics of air flowing through a variable area orifice. Further complications arise from the geometry of the mechanism because the equations of motion are highly nonlinear. The order of the dominant dynamics is shown to vary with the position of the mechanicsm.

scholarly journals DESIGN, MANUFACTURING AND PROBLEM ANALYSIS OF AN ENTIRELY FDM 3D PRINTED LINEAR PNEUMATIC ACTUATOR

2020 ◽  
pp. 98-105
Author(s):  
Martin Varga ◽  
Filip Filakovský
Keyword(s):  
3D Printing ◽  
Low Cost ◽  
Pneumatic Actuator ◽  
Problem Analysis ◽  
Pneumatic Actuators ◽  
Manufacturing Plants ◽  
Custom Made ◽  
Machine Shops ◽  
3D Printed ◽  
Linear Actuators

Urgency of the research. Currently, manufacturing of pneumatic components is reserved only to well-equipped manufacturing plants and machine shops. The ability to reliably manufacture pneumatic components on a FDM 3D printer would enable the creation of low-cost custom-made pneumatic actuators with novel properties. This, in turn, could increase the speed and lower the cost of development of prototypes that use pressure air as their power source. Target setting. Today cost-effective 3D printers can be found both in manufacturing plants and small machine shops andhobbyist workshops. Hawing the possibility to make reliable pneumatic components like pneumatic actuators on such machines could be beneficial and lead to opening new applications for them. Actual scientific researches and issues analysis. Currently most research on using additive manufacturing to construct a pneumatic actuator focuses mainly on bellows type actuators. Research on 3d printing of classical pneumatic actuators is scarce and often presents a rough overview of the design process and immediately presenting a functional prototype without focusing and studying the design hurdles thoroughly. Uninvestigated parts of general matters defining. Parts for firm pneumatic actuators manufactured by FDM 3D printing exhibit properties that have detrimental effects on the optimal working of such actuators. The question is on the magnitude of these effects whether these effects can be tolerated and how to design such a firm pneumatic actuator without the need to postprocess all the components. The research objective. The aim of these research was to manufacture an early prototype of full plastic 3d printed not postprocessed linear actuators and make a preliminary analysis of encountered problems therefore pointing the way for further research in this field. The statement of basic materials. The analysis consists of an attempt to manufacture a simple prototype of full plastic 3d printed linear actuators without the use of postprocessing techniques and establishing a baseline for further research. Conclusions. In this paper the design of three iterations of FDM 3D printed pneumatic cylinders are presented. The problems arising from not using any postprocessing on either of the parts and using only 3d printed parts for the construction is also discussed. In the final chapter the design hurdles for the design and manufacturing of such an actuator are presented..

Comparison Between an Intelligent Controller and a Sliding Mode Controller to Positioning Pneumatic Actuators

2014 ◽  
Author(s):  
Naghmeh Garmsiri ◽  
Nariman Sepehri
Keyword(s):  
Sliding Mode ◽  
Low Cost ◽  
Static Friction ◽  
Good Choice ◽  
Pneumatic Actuator ◽  
Pneumatic Actuators ◽  
Intelligent Controller ◽  
Model Free ◽  
Consistent Performance ◽  
Model Free Controller

Sliding Mode Control (SMC) technique is a well-established method in positioning pneumatic actuators due to its consistent performance in the presence of model uncertainties. Brain Emotional Learning Based Intelligent Controller (BELBIC) is a new model free controller with flexible structure and low computational load. It has been successfully applied to many control problems. In this work we study, for the first time, how well a BELBIC performs in comparison with SMC approach in positioning a pneumatic actuator. Different position tracking tasks are evaluated on a low-cost pneumatic actuator and in presence of significant friction. Comparison is done based on positioning accuracy, non-oscillatory motion and robustness to external load. The results show that while both controllers successfully track different trajectories, SMC is generally more accurate. BELBIC maintains its performance in the presence of large static friction. Furthermore, it produces less oscillatory control action. This work concludes that BELBIC can be a good choice for positioning of pneumatic actuators.

Study and design of dual stator permanent magnet machine with spoke-type configurations using phase-group concentrated-coil windings

2020 ◽  
Vol 64 (1-4) ◽  
pp. 1381-1389
Author(s):  
Dezhi Chen ◽  
Chengwu Diao ◽  
Zhiyu Feng ◽  
Shichong Zhang ◽  
Wenliang Zhao
Keyword(s):  
Permanent Magnet ◽  
Permanent Magnets ◽  
Low Cost ◽  
Dynamic Performance ◽  
Torque Ripple ◽  
Permanent Magnet Machine ◽  
Torque Density ◽  
Phase Group ◽  
High Torque ◽  
Simulation Results

In this paper, a novel dual-stator permanent magnet machine (DsPmSynM) with low cost and high torque density is designed. The winding part of the DsPmSynM adopts phase-group concentrated-coil windings, and the permanent magnets are arranged by spoke-type. Firstly, the winding structure reduces the amount of copper at the end of the winding. Secondly, the electromagnetic torque ripple of DsPmSynM is suppressed by reducing the cogging torque. Furthermore, the dynamic performance of DsPmSynM is studied. Finally, the experimental results are compared with the simulation results.

A Mechatronic Approach to Compact Fluid Disc Valve Design

1995 ◽  
Vol 209 (2) ◽  
pp. 115-125
Author(s):  
G A Parker ◽  
Y B Sun
Keyword(s):  
Low Cost ◽  
Dynamic Performance ◽  
Operating Mode ◽  
Industrial Applications ◽  
Test Results ◽  
Valve Design ◽  
Electromagnetic Characteristics ◽  
High Control ◽  
Fail Safe ◽  
Pilot Valve

The work presented in this paper deals mainly with a mechatronic approach to compact disc valve design and concentrates on improvements to the disc valve electromagnetic characteristics, the diaphragm design and the dynamic performance. A novel diaphragm-disc force motor has been successfully developed incorporating a pair of permanent ring magnets. It has the advantages of low electric power consumption at the null position, dual-lane electrical structure for fail-safe operation, high control accuracy and should be competitive with existing torque motors due to its low cost and simple construction. The research involved designing and testing a prototype disc pilot valve with a dual-lane operating mode. The test results showed that the valve has satisfactory static and dynamic characteristics for industrial applications.

Measuring Optical Properties of Advanced Nano/Micro-Periodic Structures Fabricated by Multi-Exposure Interference Lithography

2020 ◽  
Author(s):  
Shuzo Masui ◽  
Masaki Michihata ◽  
Kiyoshi Takamasu ◽  
Satoru Takahashi
Keyword(s):  
Periodic Structures ◽  
Low Cost ◽  
Industrial Applications ◽  
Interference Lithography ◽  
High Dispersion ◽  
Optical Elements ◽  
Precise Control ◽  
Periodic Grating ◽  
Interference Fringes ◽  
Multiple Interference

Abstract Functional optical elements based on nano/micro-periodic structures have attracted much attention. Since the fabrication of these dual-periodic structures requires precise control of periodicity, the semiconductor process such as an electron beam lithography has been mainly employed. However, these techniques have problems with expensive and low throughput for industrial applications. Therefore, there remains a need for low cost and high throughput fabrication methods of dual-periodic structures. Then we developed a multi-exposure interference lithography (MEIL) system using rotational Lloyd’s mirror interferometer to overcome these problems. The advantages of interference lithography are a large processing area and low cost. Our developed rotational Lloyd’s mirror setup enables us to a highly precise superposition of multiple interference fringes by multi-exposure. Furthermore, we developed a measurement setup for reflective diffractive elements using a two axial rotating stage and measured the diffraction properties of the fabricated dual-periodic diffraction gratings. In this paper, as a demonstration, we succeeded in the fabrication of high-dispersion diffraction grating with an enhanced diffraction efficiency of the −3rd order light. The fabricated shapes have a periodicity of 1997 nm and 665 nm. Furthermore, it was confirmed that the intensity of the −3rd order light was enhanced by about 10 times compared to the single periodic grating.

Improved Pole-placement Control with Feed-forward Dead Zone Compensation for Position Tracking of Electro-Pneumatic Actuator System Improved Pole-placement Control with Feed-forward Dead Zone Compensation for Position Tracking of Electro-Pneumatic Actuato

2021 ◽  
Vol 20 (2) ◽  
pp. 25-32
Author(s):  
Noorhazirah Sunar ◽  
Mohd Fua’ad Rahmat ◽  
Ahmad ‘Athif Mohd Fauzi ◽  
Zool Hilmi Ismail ◽  
Siti Marhanis Osman ◽  
...  
Keyword(s):  
Dead Zone ◽  
Pneumatic Actuator ◽  
Pole Placement ◽  
Position Tracking ◽  
Zone Model ◽  
Feed Forward ◽  
The Dead ◽  
Chattering Effect ◽  
Pole Placement Controller ◽  
Pole Placement Control

Dead-zone in the valve degraded the performances of the Electro-Pneumatic Actuator (EPA) system.  It makes the system difficult to control, become unstable and leads to chattering effect nearest desired position.  In order to cater this issue, the EPA system transfer function and the dead-zone model is identified by MATLAB SI toolbox and the Particle Swarm Optimization (PSO) algorithm respectively.  Then a parametric control is designed based on pole-placement approach and combine with feed-forward inverse dead-zone compensation.  To reduce chattering effect, a smooth parameter is added to the controller output.  The advantages of using these techniques are the chattering effect and the dead-zone of the EPA system is reduced.  Moreover, the feed-forward system improves the transient performance.  The results are compared with the pole-placement control (1) without compensator and (2) with conventional dead-zone compensator.  Based on the experimental results, the proposed controller reduced the chattering effect due to the controller output of conventional dead-zone compensation, 90% of the pole-placement controller steady-state error and 30% and 40% of the pole-placement controller with conventional dead-zone compensation settling time and rise time.

scholarly journals A Simple and Low-Cost Strategy to Improve Conidial Yield and Stress Resistance of Trichoderma guizhouense through Optimizing Illumination Conditions

2022 ◽  
Vol 8 (1) ◽  
pp. 50
Author(s):  
Yifan Li ◽  
Xiya Meng ◽  
Degang Guo ◽  
Jia Gao ◽  
Qiwei Huang ◽  
...  
Keyword(s):  
Blue Light ◽  
Stress Responses ◽  
Stress Resistance ◽  
Low Cost ◽  
Hog Pathway ◽  
Precise Control ◽  
Blue Light Receptor ◽  
Expression Of Genes ◽  
Low Cost Strategy ◽  
Stress Related Genes

Light is perceived by photoreceptors in fungi and further integrated into the stress-activated MAPK HOG pathway, and thereby potentially activates the expression of genes for stress responses. This indicates that the precise control of light conditions can likely improve the conidial yield and stress resistance to guarantee the low cost and long shelf life of Trichoderma-based biocontrol agents and biofertilizers. In this study, effects of wavelengths and intensities of light on conidial yield and stress tolerance to osmotic, oxidative and pH stresses in Trichoderma guizhouense were investigated. We found that 2 μmol photons/(m2 × s) of blue light increased the conidial yield more than 1000 folds as compared to dark condition and simultaneously enhanced conidial stress resistance. The enhanced conidial stress resistance is probably due to the upregulated stress-related genes in blue light, which is under the control of the blue light receptor BLR1 and the MAP kinase HOG1.

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