DocumentCode :
425222
Title :
Design and experimental evaluation of a nonlinear position controller for a pneumatic actuator with friction
Author :
Karpenko, Mark ; Sepehri, Nariman
Author_Institution :
Dept. of Mech. & Ind. Eng., Manitoba Univ., Winnipeg, Man., Canada
Volume :
6
fYear :
2004
fDate :
June 30 2004-July 2 2004
Firstpage :
5078
Abstract :
This paper documents the development and experimental evaluation of a practical nonlinear position controller for a typical industrial pneumatic actuator that gives good performance for both regulating and reference tracking tasks. The system is comprised of a low-cost 5-port proportional valve with flow deadband and a double-rod actuator exhibiting significant friction. Quantitative feedback theory is employed to design a simple fixed-gain PI control law that minimizes the effects of the nonlinear control valve flows, uncertainty in the physical system parameters and variations in the plant operating point. Easy to implement nonlinear modifications to the designed PI control law are then tuned experimentally in a step-by-step fashion to reduce overshoot and to negate the effects of the control valve deadband and actuator friction. Experimental results clearly illustrating the efficacy of the approach are presented.
Keywords :
PI control; control system synthesis; feedback; nonlinear control systems; pneumatic actuators; position control; stiction; valves; control system synthesis; control valve deadband; double rod actuator friction; fixed gain PI control law design; flow deadband; industrial pneumatic actuator; low cost 5-port proportional valve; nonlinear control valve flow minimisation; nonlinear position controller; parametric uncertainties; quantitative feedback theory; tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
ISSN :
0743-1619
Print_ISBN :
0-7803-8335-4
Type :
conf
Filename :
1384656
Link To Document :
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