Modeling, Simulation and Control of Pneumatically Actuated Stewart Platform with Input Quantization

Author

Andrievsky, Boris ; Kazunin, Dmitry V. ; Kuznetsov, Nikolay V. ; Kuznetsova, Olga A. ; Leonov, Gennady A. ; Seledzhi, Svetlana M.

Author_Institution

St. Petersburg State Univ., St. Petersburg, Russia

fYear

2014

Firstpage

263

Lastpage

268

Abstract

The paper is devoted to modeling the Stewart-platform based simulator for training of freight vehicle Kam AZ drivers that is currently under construction by the Transas Co. The car cabin is mounted on the platform for reproducing the desired motions of the cabin. The pneumatic servos are used as the actuators for the Transas simulator. An essential peculiarity of the described Transas simulator is usage of the on-off air valves rather than sliding piston-type selector valves for motion control, which imposes serious restrictions on the control law design. The mathematical model, including motion dynamics and pneumatic actuators is presented. The simulation results for quantized PD control are given.

Keywords

PD control; control system synthesis; manipulator dynamics; motion control; pneumatic actuators; valves; KamAZ freight vehicle driver training; Transas Co; Transas simulator; car cabin; control law design; input quantization; mathematical model; motion control; motion dynamics; on-off air valves; pneumatic actuators; pneumatic servos; pneumatically actuated Stewart platform control; pneumatically actuated Stewart platform modeling; pneumatically actuated Stewart platform simulation; quantized PD control; six-degree-of-freedom parallel manipulator; Mathematical model; Pistons; Pneumatic actuators; Valves; Vehicle dynamics; Vehicles; PD quantized control; Stewart platform; modeling; pneumatic servo; simulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Modelling Symposium (EMS), 2014 European

Print_ISBN

978-1-4799-7411-5

Type

conf

DOI

10.1109/EMS.2014.62

Filename

7154009