Electropneumatic servo system with adaptive force controller

Due to good environmental security nature, pneumatic system attracts interest of industrial field. This requires development of modern control methods especially when pneumatic cylinders are used as force generating actuators. Dynamics of pneumatic cylinder manifests itself by essential nonlinear features defined by initial starting position and pressure values in the working chambers of the cylinder and flow transfer characteristics of the directional valve. These nonlinearities directly influence the force generation process of the pneumatic cylinder. To ensure required control quality of electropneumatic servo system the multiloop control system method with reference model based signal adaptive force controller is proposed and investigated in this paper. The strategies of design of the controllers such as velocity and position are presented. The investigation results on changing initial conditions of the electropneumatic servo drive are given.