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Engineering

A review of pneumatic actuators (modeling and control)

Profile image of Hazem aliHazem ali

2009, Australian Journal of Basic …

Abstract

The pneumatic actuator represents the main force control operator in many industrial applications, where its static and dynamic characteristics play an important role in the overall behavior of the control system. Therefore improving the dynamic behavior of the pneumatic actuator is of prime interest to control system designers. This paper is a review of literature that related of the pneumatic actuator systems. In particular, the innovations in different control strategies applied to pneumatic actuators along with the modeling, controlling and simulation techniques developed for different applications of pneumatic actuators are reviewed. The review concentrates also on the analysis, investigation, performance, practical constraints, nonlinearities, uncertainties and the new applications of the pneumatic actuators.

Key takeaways
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AI

  1. Improving dynamic behavior of pneumatic actuators is critical for effective control system design.
  2. Pneumatic actuators are favored for their cleanliness, safety, and high power-to-weight ratio.
  3. Control strategies must address nonlinear characteristics like friction and thermodynamics.
  4. Research highlights new applications in robotics, active suspensions, and automation machinery.
  5. Advanced modeling techniques enhance accuracy and performance of pneumatic actuator systems.
Figures (6)
Fig. (1b): Vane rotary pneumatic actuator. Pneumatic Actuators: Applications and Related Work: Pneumatic servos have advantages over hydraulics in high temperature and nuclear environments. The actuator, rather than the servo valve, generally limits system response and stiffness. Where simplicity and cost are paramount, the piston cylinder is probably the best choice. But if minimum fuel consumption is desired rotary type of motor is indicated. (Taplin et a/., 1963). also have been shown the rotary servo has nearly twice the band pass of the piston cylinder servo. This result is typical for many applications. In short duration missile applications, the weight of a self-contained solid propellant pneumatic servo may be half that of an equivalent self contained hydraulic system. Where a pneumatic system is to replace a heavier hydraulic system, maximum dynamic response and output stiffness are essential. The outstanding difference between pneumatic and hydraulic systems arises from the low bulk modulus of the pneumatic working medium. The bulk modulus of a gas is p, where hh is the ratio of specific heats for the gas and p is the instantaneous pressure. This is the major obstacle in achieving a high response pneumatic system.
Fig. (1b): Vane rotary pneumatic actuator. Pneumatic Actuators: Applications and Related Work: Pneumatic servos have advantages over hydraulics in high temperature and nuclear environments. The actuator, rather than the servo valve, generally limits system response and stiffness. Where simplicity and cost are paramount, the piston cylinder is probably the best choice. But if minimum fuel consumption is desired rotary type of motor is indicated. (Taplin et a/., 1963). also have been shown the rotary servo has nearly twice the band pass of the piston cylinder servo. This result is typical for many applications. In short duration missile applications, the weight of a self-contained solid propellant pneumatic servo may be half that of an equivalent self contained hydraulic system. Where a pneumatic system is to replace a heavier hydraulic system, maximum dynamic response and output stiffness are essential. The outstanding difference between pneumatic and hydraulic systems arises from the low bulk modulus of the pneumatic working medium. The bulk modulus of a gas is p, where hh is the ratio of specific heats for the gas and p is the instantaneous pressure. This is the major obstacle in achieving a high response pneumatic system.
A robust control method using the dynamic impedance matching method was proposed by Shigeru et al 1995). This method was presented to make pneumatic actuator robust to load variation so that velocity (c force) output characteristics remain the same under load (or velocity) change. Complete robustness of actuato velocity output applied load requires actuator internal impedance to be strictly zero. Achievement of thi condition is actually difficult, due to errors in actuator modeling and insufficient output measurement: However, actuator internal impedance can be made small by using proper feedbacks from two outputs, forc and velocity and by supporting the existence of energy dissipating element in environment for system stability To overcome the problems of the din and vibration that are resulted from the control valve in the pneumati system, (Morioka et al., 2000). proposed a simple controller structure shown in figure (2) using loop-shapin nethod. In this design scheme, the change of distance between the pneumatic actuator and the control valve are considered. As a result, the control valves, that are a source of a din and vibration, can be set apart fror he pneumatic actuators. The proposed pneumatic servo systems, that can reduce a din and vibration, can b stalled in the medical and welfare facilities. At the same time, the proposed control is very simple. Therefor it can be implemented on the cheap one board microcomputer. It also be noted that the proposed metho admits the change of the plumbing route. The payload variation and external disturbance uncertainties are nc aken in account. Fig. 2: Two degree of freedom control.
A robust control method using the dynamic impedance matching method was proposed by Shigeru et al 1995). This method was presented to make pneumatic actuator robust to load variation so that velocity (c force) output characteristics remain the same under load (or velocity) change. Complete robustness of actuato velocity output applied load requires actuator internal impedance to be strictly zero. Achievement of thi condition is actually difficult, due to errors in actuator modeling and insufficient output measurement: However, actuator internal impedance can be made small by using proper feedbacks from two outputs, forc and velocity and by supporting the existence of energy dissipating element in environment for system stability To overcome the problems of the din and vibration that are resulted from the control valve in the pneumati system, (Morioka et al., 2000). proposed a simple controller structure shown in figure (2) using loop-shapin nethod. In this design scheme, the change of distance between the pneumatic actuator and the control valve are considered. As a result, the control valves, that are a source of a din and vibration, can be set apart fror he pneumatic actuators. The proposed pneumatic servo systems, that can reduce a din and vibration, can b stalled in the medical and welfare facilities. At the same time, the proposed control is very simple. Therefor it can be implemented on the cheap one board microcomputer. It also be noted that the proposed metho admits the change of the plumbing route. The payload variation and external disturbance uncertainties are nc aken in account. Fig. 2: Two degree of freedom control.
Fig. 3: Internal model controller with DRNN. (Xuesong eft al., 2003). studied the modeling and motion control of manipulators driven by single rod pneumatic actuators. The dynamics model of pneumatic manipulator is analyzed profoundly at first. Then aim at the highly nonlinear, strong coupling, time various of pneumatic manipulator dynamics, a new internal model controller for pneumatic robot servo system is presented, which has a three layer feedforward neural network as controller (NNC) and a diagonal recurrent neural network (DRNN) as model predictor (NNM). Computer simulation results indicate that the system has strong robustness and significantly improves the control performance of pneumatic manipulator. As shown in figure (3) NNC and NNM represent neural network controller and neural network model predictor respectively.
Fig. 3: Internal model controller with DRNN. (Xuesong eft al., 2003). studied the modeling and motion control of manipulators driven by single rod pneumatic actuators. The dynamics model of pneumatic manipulator is analyzed profoundly at first. Then aim at the highly nonlinear, strong coupling, time various of pneumatic manipulator dynamics, a new internal model controller for pneumatic robot servo system is presented, which has a three layer feedforward neural network as controller (NNC) and a diagonal recurrent neural network (DRNN) as model predictor (NNM). Computer simulation results indicate that the system has strong robustness and significantly improves the control performance of pneumatic manipulator. As shown in figure (3) NNC and NNM represent neural network controller and neural network model predictor respectively.
(Qiang et al., 2006). presented the results on the modeling and control of a pneumatic system. With Levenberg-Marquardt method, a neural network model, from which a third-order ARX model was derived, has been developed for the pneumatic system. Based on the built ARX model, a direct digital controller was designed with Ragazzini method. To reject external noise, a disturbance observer (DOB) was constructed as shown in figure (4) to improve the control accuracy. The experimental results of the position control for the pneumatic system were given to demonstrate the performance of the DOB-based controller. The accuracy and response speed were satisfactory for both steady state and dynamic tracking.
(Qiang et al., 2006). presented the results on the modeling and control of a pneumatic system. With Levenberg-Marquardt method, a neural network model, from which a third-order ARX model was derived, has been developed for the pneumatic system. Based on the built ARX model, a direct digital controller was designed with Ragazzini method. To reject external noise, a disturbance observer (DOB) was constructed as shown in figure (4) to improve the control accuracy. The experimental results of the position control for the pneumatic system were given to demonstrate the performance of the DOB-based controller. The accuracy and response speed were satisfactory for both steady state and dynamic tracking.
Fig. 7: Two degree of freedom QFT control structure. In order to track the desired position and desired pressure in the pneumatic actuator chambers, a slidin mode control law was presented in different ways as stated in the following: okie - a ae 2 Py - ¥ ee ae Z 7 ae s = wa 7 7 Ps (Samaoui et al., 2004) introduced a second order sliding mode control approach in the context of position control of an electropneumatic system. The main objective was to demonstrate through this approach the undesired chattering phenomenon can be avoided while retaining the same robustness of first order sliding mode control.
Fig. 7: Two degree of freedom QFT control structure. In order to track the desired position and desired pressure in the pneumatic actuator chambers, a slidin mode control law was presented in different ways as stated in the following: okie - a ae 2 Py - ¥ ee ae Z 7 ae s = wa 7 7 Ps (Samaoui et al., 2004) introduced a second order sliding mode control approach in the context of position control of an electropneumatic system. The main objective was to demonstrate through this approach the undesired chattering phenomenon can be avoided while retaining the same robustness of first order sliding mode control.

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Review on controller design in pneumatic actuator drive system
M. A. M. Hanafiah, TELKOMNIKA JOURNAL, Lokman Bin Abdullah

TELKOMNIKA Telecommunication Computing Electronics and Control, 2020

A pneumatic actuator is a device that converts compressed air into mechanical energy to perform varieties of work. It exhibits high nonlinearities due to high friction forces, compressibility of air and dead band of the spool movement which is difficult to manage and requires an appropriate controller for better performance. The purpose of this study is to review the controller design of pneumatic actuator recommended by previous researchers from the past years. Initially, the basic views of the pneumatic will be presented in terms of introduction to the pneumatic actuator and its applications in industries. At the end of this review, discussions on the design of the controllers will be concluded and further research will be proposed along with the improvement of control strategies in the pneumatic actuator systems.

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Modeling and Controller Design of Pneumatic Actuator System with Control Valve
Mohd Fua'ad Rahmat

International Journal on Smart Sensing and Intelligent Systems, 2012

Pneumatic actuators offer several advantages over electromechanical and hydraulic actuators for positioning applications. Nonetheless, pneumatic actuators are subject to high friction forces, dead band and dead time, which make fast and accurate position control difficult to achieve. This research paper presents the process of controller identification, design, modeling and control for pneumatic actuator system. System Identification approach is used with the purpose to estimate the mathematical model of pneumatic actuator system and for controller design. Data collection of input and output signal of the system has been performed from experiment procedure. This data is used for estimate the model by selecting Auto-Regressive Exogenous (ARX) model as a model structure. The accepted model is based validation test namely as residual correlation, Akaike Final Prediction Error and best fit percentage. Different control schemes such as PID and LQR (Linear Quadratic Regulator) have been a...

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Experimental Comparisons of the Control Solutions for Pneumatic Servo Actuators
Antonio Carlos Valdiero

2004

This paper points to the control problem of the pneumatic servo actuator in positioning, comparing through experimental tests a commercially available industrial controller and classic linear controllers. Although there are many papers covering the control of servo pneumatic drives, was observed the lack of a comparison involving these proposed and tested control strategies with controllers that have recognized use in industry. This paper begins with the presentation of the experimental system where the comparison work was developed. It continues with a short study of mathematical models of pneumatic systems to know the main non-linearities involved. At sequence, P, P I and PID controllers are described and compared with commercially available Festo SPC-100 controller through experimental tests, where are measured the following variables: pneumatic actuator position, position error, pressures in the actuator chambers and the valve control signal. Graphics to each controller are plot...

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