This paper presents a control methodology that enables nonlinear model-based control of pulse width modulated (PWM) pneumatic servo actuators. An averaging approach is developed to describe the equivalent continuous-time dynamics of a PWM controlled nonlinear system, which renders the system, originally discontinuous and possibly nonaffine in the input, into an equivalent system that is both continuous and affine in control input (i.e., transforms the system to nonlinear control canonical form). This approach is applied to a pneumatic actuator controlled by a pair of three-way solenoid actuated valves. The pneumatic actuation system is transformed into its averaged equivalent control canonical form, and a sliding mode controller is developed based on the resulting model. The controller is implemented on an experimental system, and the effectiveness of the proposed approach validated by experimental trajectory tracking.
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September 2006
Technical Papers
Nonlinear Model-Based Control of Pulse Width Modulated Pneumatic Servo Systems
Xiangrong Shen,
Xiangrong Shen
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
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Jianlong Zhang,
Jianlong Zhang
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
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Eric J. Barth,
Eric J. Barth
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
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Michael Goldfarb
Michael Goldfarb
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
Search for other works by this author on:
Xiangrong Shen
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
Jianlong Zhang
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
Eric J. Barth
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235
Michael Goldfarb
Department of Mechanical Engineering,
Vanderbilt University
, Nashville, TN 37235J. Dyn. Sys., Meas., Control. Sep 2006, 128(3): 663-669 (7 pages)
Published Online: November 14, 2005
Article history
Received:
May 6, 2004
Revised:
November 14, 2005
Citation
Shen, X., Zhang, J., Barth, E. J., and Goldfarb, M. (November 14, 2005). "Nonlinear Model-Based Control of Pulse Width Modulated Pneumatic Servo Systems." ASME. J. Dyn. Sys., Meas., Control. September 2006; 128(3): 663–669. https://doi.org/10.1115/1.2232689
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