Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2006.12.11.1061

Sliding Mode Control with Velocity Feedforward Gain of a Pneumatic Motor  

Kim, Geun-Mook (아주자동차대학 자동차학부)
Kang, E-Sok (충남대학교 기계설계공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.11, 2006 , pp. 1061-1064 More about this Journal
Abstract
In this study, the performance of the tracking control of a pneumatic servo motor driven position control system using sliding mode is investigated. It is usually quite difficult to obtain precise tracking control of a pneumatic servo motor driven position control system because of the nonlinear deadband and stick-slip friction of the proportional valve. Therefore, a continuous sliding mode controller with velocity feedforward gain is proposed. Experimental results show that the tracking accurracy can be remarkably improved by adding a proper velocity feedforward term to continuous sliding mode controller.
Keywords
pneumatic motor; continuous sliding mode; tracking control; velocity feedfoward gain;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 J. Song and Y. Ishida, 'Robust tracking controller design for pneumatic servo system,' Int. J. of Engineering Science, vol. 35, no. 10-11, pp. 905-920, 1997   DOI   ScienceOn
2 S. Drakunov, G. D. Hanchin, W. C. Su and U. Ozguner, 'Nonlinear control of a rodless pneumatic servoactuator, or sliding modes versus coulomb friction,' Automatica, vol. 33, no. 7, pp. 1401-1408, 1997   DOI   ScienceOn
3 B. W. Surgenor and N. D. Vaughan, 'Continuous sliding mode control of a pneumatic actuator,' Trans. of ASME, J. of Dynamic Systems, Measurement, and Control, vol. 119, no. 3, pp. 578-580, 1997   DOI   ScienceOn
4 A. K. Paul, J. K. Mishra, and M. G. Radke, 'Reduced order sliding mode control for pneumatic actuator,' IEEE Trans. on control systems Technology, vol. 2, no. 3, pp. 271-276, 1994   DOI   ScienceOn
5 S. R. Pandian, Y. Hayakawa, Y. Kanazawa, Y. Kamoyama and S. Kawamura, 'Practical design of a sliding mode controller for pneumatic actuators,' Trans. of ASME, vol. 119, no. 4, pp. 666-674, 1997   DOI   ScienceOn
6 M. O. Tokhi, M. Al-Miskiry, and M. Brisland, 'Realtime control of air motors using a pneumatic H-bridge,' Control Engineering Practice, vol. 9, no. 4, pp. 449-457, 2001   DOI   ScienceOn
7 S. R. Pandian, Y. Hayakawa, F. Takemura, and S. Kawamura, 'Control performance of an air motor -Can air motors replaces electric motors?,' Proc. of IEEE Int'l Conf. on Robotics and Automation, pp. 518-524, 1999   DOI
8 J. J. E. Slotine and W. Li, Applied Nonlinear Control, Prentice-Hall, 1991
9 M.-C. Shih and C.-S. Lu, 'Pneumatic servomotor drive a ball-screw with fuzzy-sliding mode position control,' Proc. of IEEE conf. on Systems, Man and Cybernetics, pp. 50-54, 1993   DOI
10 W. Backe, 'The application of servo-pneumatic drives for flexible mechanical handling techniques,' Robotics, vol. 2, no. 1, pp. 45-56, 1986   DOI   ScienceOn
11 F. Takemura, S. R. Pandian, Y. Nagase, H. Mizutani, Y. Hayakawa, and S. Kawamura, 'Control of a hybridpneumatic/electric motor,' Proc. of IEEE Int'l Conf. on Intelligent Robots and Systems, pp. 209-214, 2000   DOI
12 J. Tang and G. Walker, 'Variable structure control of a pneumatic actuator,' Trans. of ASME, J of Dynamic Systems, Measure-ment, and Control, vol. 117, no. 1, pp. 88-92, 1995   DOI   ScienceOn
13 H. M. Mahgoub and I. A. Craighead, 'Development of a microprocessor based control system for a pneumatuc rotary atuator,' Mechatronics, vol. 5, no. 5, pp. 541-560, 1995   DOI   ScienceOn
14 J. Pu, P. R. Moore, and R. H. Weston, 'Digital servo motion control of air motors,' Int. J. of Production Research, vol. 29, no. 3, pp. 599-618, 1991   DOI
15 J. Wang, J. Pu, P. R. Moore, and Z. Zhang, 'Modelling study and servo control of air motor systems,' Int. J of Control, vol. 71, no. 3, pp. 459-476, 1998   DOI
16 박근석, 김형의, 강이석, '가변구조제어기를 이용한 외란을 받는 유압시스템의 위치제어', Journal of Control, Automation and Systems Engineering vol. 10, no. 10, pp. 915-921, 2004   과학기술학회마을   DOI
17 W.-C. Su and C.-Y. Kuo, 'Variable structure control of a rodless pneumatic servoactuator with discontinuous sliding surfaces,' Proc. of American Control Conference, pp. 1617-1621, 2000   DOI
18 M. Bouri and D. Thomasset, 'Sliding control of an electropneumatic actuator using an integral switching surface,' IEEE Trans. on Control Systems Technology, vol. 9, no. 2, pp. 368-375, 2001   DOI   ScienceOn