Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Accurrate Position Control of Pneumatic Manipulator Using On/Off Valves

On/Off 밸브를 이용한 공압 매니퓰레이터의 고정도 위치제어

  • 표성만 (울산대학교 기계자동화공학부) ;
  • 안경관 (울산대학교 기계자동화공학부)
  • Published : 2005.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

Loading/Unloading task in the real industry is performed by crane, but most of the loading/unloading task with the weight of 5kg∼30kg is done by human workers and this kind of work causes industrial disaster of workers. Therefore it is necessary to develop low cost loading/unloading manipulator system to prevent this kind of industrial accidents. This paper is concerned with the design and fabrication of 2 axis pneumatic manipulators using on/off solenoid valves and accurate position control without respect to the external load and low damping in the pneumatic rotary actuator. To overcome the change of external load, switching of control parameter using LVQNN (Learning Vector Quantization Neural Network) is newly applied, which estimates the external loads in the pneumatic cylinder. As an underlying controller, a state feedback controller using position, velocity and acceleration is applied to the switching control system. The effectiveness of the proposed control algorithms are demonstrated through experiments of pneumatic cylinder with various loads.

Keywords

References

  1. E. J. Barth, J. Zhang and M. Goldfarb, 'Sliding mode approach to PWM-controlled pneumatic systems', Proc. of the American Control conference Anchorage, AK May 8-10, 2002 https://doi.org/10.1109/ACC.2002.1023995
  2. J. E. Bobrow and F. Jabbari, 'Adaptive pneumatic force actuation and position control', ASME J. Dynamic Syst., Measur., Contr., vol. 113, pp. 267-272, June 1991 https://doi.org/10.1115/1.2896374
  3. S. H. Choi, Y. S. Hong, C. O. Lee, 'A study on the position control and simulation of pneumatic servo system', KSPE, vol. 13, no.6, pp. 102-113, 1996
  4. T. Noritsugu, and M. Takaiwa, 'Robust position of pneumatic servo system with pressure control loop', Proc. IEEE int. Conf. Robotics and Automation, May 1995, vol. 3, pp. 2613-2618 https://doi.org/10.1109/ROBOT.1995.525651
  5. J. Tang and G. Walker, 'Variable structure control of a pneumatic actuator,' ASME J. of DSMC, vol. 117, pp. 88-92, 1995
  6. M. Y. Rachkov, M. Crisostomo, L. Marques and A. T. de Almeida, 'Position control of pneumatic manipulators for construction tasks', Automation in Construction 11, 2002, 655-665 https://doi.org/10.1016/S0926-5805(02)00007-9
  7. R. B. van Varseveld and G. M. Bone 'Accurate position control of a pneumatic actuator using on/off solenoid valves', IEEE/ASME Transactions on Mechatronics, vol. 2, no. 3, 1997 https://doi.org/10.1109/3516.622972
  8. T. Haegglund, 'A friction compensation for pneumatic control valves', Journal of Process Control 12, 897-904, 2002 https://doi.org/10.1016/S0959-1524(02)00015-X
  9. T. Matsui, E. Ishimoto, and M. Takawaki, 'Learning position control of a pneumatic cylinder using fuzzy reasoning', J. Fluid Control, vol. 20, no. 3, pp. 7-29, Mar. 1990
  10. J. A. Limmett and M. C. Smith, 'An accurate low-friction pneumatic position control system', Proc. Inst. Mech. Eng. B, vol. 203, no. 33, pp. 159-165, Apr. 1989
  11. A. K. Paul, J. K. Mishra and M. G. Radke, 'Reduced order sliding mode control for pneumatic actuator', IEEE Trans. Contr. Syst. Technol., vol. 2, pp. 271-276, Sept. 1994 https://doi.org/10.1109/87.317984
  12. T. Noritsugu, 'Development of PWM mode electro- pneumatic servo mechanism, part II: position control of a pneumatic cylinder,' J. Fluid Control, vol. 17, no. 2, pp. 7-28, Mar. 1987
  13. W. Peirong, D. Yunbo and H. Jianhua, 'The story of a pneumatic PWM position control system', ICFP' 93, Hangzhou, China, Sept., pp. 499-504, 1993
  14. R. H. Weston, P. R. Moore. T. W. Thatcher 'Computer controlled pneumatic servo drives', Proc. Inst. Mech. Engrs., vol. 198B. no 14, pp. 225-231,1984
  15. A. Klein, 'Einsatz der fuzzy logik zur adaption der positionsregelung fluidtechnischer zylinderantriebe', Dissertation, RWTH Aachen, 1993
  16. T. Kohonen, 'Self-organization and associative memory', 2nd Edition, Springer-Verlag, Berlin, 1987