Simulation Study of Servo Control of Pneumatic Positioning System Using Fuzzy PD Controller
Servo pneumatic positioning system is a mechatronic approach that enables to use Pneumatic Cylinders as multi-position actuators. This technology can replace less efficient electromechanical systems in many applications. The nonlinear servo control for th
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deling • Simulation • Fluid
power
systems •
1 Introduction Pneumatic actuators are widely used in the field of automation, robots, and manufacturing. Traditionally, pneumatic actuators were used for motion between two hard stops. It is very useful for the manipulation and rapid motion of mechanical
D. Saravanakumar (*) Department of Production Technology, Madras Institute of Technology, Anna University, Chennai, India e-mail: [email protected] B. Mohan Department of Mechanical Engineering, College of Engineering, Anna University, Chennai, India e-mail: [email protected]
S. Sathiyamoorthy et al. (eds.), Emerging Trends in Science, Engineering and Technology, Lecture Notes in Mechanical Engineering, DOI: 10.1007/978-81-322-1007-8_38, © Springer India 2012
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objects and also in assembly, monitoring, packing, stacking, clamping, and fixing of various manufacturing products. The advantages of Pneumatic drives are the attainment of high speeds in linear motion, without additional mechanical transmissions, considerable force development and prolonged intense operation without risk of overheating. Other advantages include high ceiling, high mechanical efficiency, long working life, and a broad working temperature range. They are also characterized by low operating costs, simple storage of the compressed air energy, and compatibility with portable power sources. Of comparable practical importance is the ability of pneumatic drives to operate in wet, dusty, and chemically aggressive atmospheres that pose the risk of fire or explosion, and in the presence of radiation and electromagnetic fields, as well as mechanical vibrations. In order to expand the capabilities of equipment based on pneumatic drives, the trend is to employ electro pneumatic servo drives, characterized by higher speed and precision. One significant problem is that such drives are nonlinear: the pressure within the pneumatic cylinder, the frictional force, and the compressed air flow rates through the chokes of the pneumatic drive all vary in nonlinear fashion. The dead zone and time delay characteristics of the servo valve also adds to the complexity for designing controller for the system. Mathematical modeling of the system becomes very important for development of controller for the system and also to optimize the parameters in the pneumatic system. Jun et al. in [1] has presented a model for dynamics of air. Gulati and Barth in [2] have presented a linear model for the servo pneumatic system. LinChen et al. in [3] developed model for individual elements in the servo pneumatic system. Le et al. in [4] and Jin-feng et al. in [5] has developed a model for mass flow rate equation inside a valve with switching characteristics. Xin-too et al. in [6] formulated a model for rotary pneumatic actuator. Andrighetto et al. in [7] have developed a model for Dead zone in the servo valve. Kazerooni in [8] formulated a model for force created by the cylinder. Najafi et al. in [9] has developed a model for pneuma
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