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Modelling, identification and control of electro pneumatic linear actuators. Application in tow degree of freedom platform

Abstract:

This paper is meant to present a method of analysis and design of a controller for linear electro-pneumatic actuators. The characterization is based on a physical-mathematical model of the system using a new approach: without averaging the time constants of the cylinder chambers and taking into account the underlap effect of the valve spool. With this model it is shown a more precise description of the system dynamics. To perform the validation, the system is subject to experimental identification using different positions of the cylinder piston in a real electro-pneumatic test bed. In addition to this, it is proposed a lineal pole place regulator based on the model. The method of control is validated in the test bed and later on is introduced in a two degree of freedom industrial platform (drive simulator) with satisfactory results. Copyright © 2007 CEA-IFAC.