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S22 Mecatrônica |
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Title:
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CLOSED LOOP CONTROL OF A PNEUMATIC SERVODRIVE
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Summary :
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SUMMARY. PNEUMATIC ACTUATORS ARE RELATIVELY CHEAP, LIGHTWEIGHT AND EASY TO OPERATE. THEY ALSO PRESENTS A RELATIONSHIP OF FORCE PER UNIT OF WEIGHT THAT MAKES THEM QUITE ATTRACTIVE FOR APPLICATIONS IN ROBOTICS. BUT, IN THE CASE OF POSITION CONTROL SYSTEMS, WHEN A HIGH BANDWIDTH IS NECESSARY, THE NONLINEARITIES OF THE PNEUMATIC SYSTEMS AND THE DIFFICULTIES OF OBTAINING PRECISE PNEUMATIC MODELS HAVE BEEN HINDERING THE PRACTICAL APPLICATIONS OF THESE SYSTEMS. SEVERAL WORKS ARE ABOUT STRATEGIES TO OVERCOME THESE DIFFICULTIES USING ADAPTED FEEDBACK CONTROL ALGORITHMS. CLASSICAL CONTROL ALGORITHMS (P, PVA, PDP) WERE TESTED AND COMPARED USING A NONLINEAR DYNAMIC MODEL. THESE CONTROL SCHEMES WERE LATER IMPLEMENTED ON A PNEUMATIC EXPERIMENTAL APPARATUS.
WORD-KEYS: AUTOMATION AND ROBOTICS, INSTRUMENTATION AND CONTROL, PROJECT OF MECHANICAL SYSTEMS.
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Author :
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Guenther, Raul 0
Perondi, Eduardo A.
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Paper View :
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COBEM99
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