Pneumatic actuators, due to their unique features, have numerous industrial applications. However, when compared to electrical actuators, one of the major problems of the overall pneumatic system is low-efficiency. Thus it is important to develop control algorithms for force tracking of pneumatic actuators while minimizing the consumed energy. This paper presents three different approaches for force tracking of pneumatic cylinders. A dual-action pneumatic cylinder along with a real-time control platform were used to compare the energy efficiency and force tracking performance of these methods. Experiments with sinusoidal forces reveled that minimizing the chamber pressure gives the best tracking performance and energy efficiency in higher frequencies.
- Dynamic Systems and Control Division
Investigation of Energy Efficiency in Force Control of Pneumatic Actuators
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Taheri, B, Case, D, & Richer, E. "Investigation of Energy Efficiency in Force Control of Pneumatic Actuators." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T45A005. ASME. https://doi.org/10.1115/DSCC2015-9926
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