Browse > Article
http://dx.doi.org/10.5762/KAIS.2014.15.11.6446

Sliding Mode Control Based on 3-Loop of a Pneumatic Motor  

Kim, Geun-Mook (Division of Automotive Engineering, Ajou Motor College)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.15, no.11, 2014 , pp. 6446-6451 More about this Journal
Abstract
Pneumatic motors are quite attractive for many applications because of their competitive price, light-weight, easy assembly, safety in hazardous areas as well as other features, such as a good force/weight ratio and operation in exceptionally harsh environments. In contrast to these advantages, pneumatic motors have limited use in applications, particularly those requiring a fast and precise response. These undesirable characteristics are due to the high compressibility of air and from the nonlinearities in pneumatic systems. This paper presents the sliding mode controller based on 3-loop(SMCB3L), which increases the load stiffness to control the rotation angle of a pneumatic motor. The characteristics for the step responses and load disturbances of the proposed controller were compared with the conventional PID controller. The experimental results showed that a properly designed SMCB3L is capable of high positioning accuracy within ${\pm}0.05mm$. Furthermore, the load stiffness of the SMCB3L can be improved 3.5 fold compared to that of PID controllers.
Keywords
pneumatic motor; sliding mode controller; 3-loop controller; sliding mode controller based on 3-loop;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 M. O. Tokhi, M. Al-Miskiry, M. Brisland, "Real-time control of air motors using a pneumatic H-bridge", Control Engineering Practice, vol. 9, no. 4, pp. 449-457, 2001. DOI: http://dx.doi.org/10.1016/S0967-0661(00)00122-2   DOI   ScienceOn
2 H. M. Mahgoub, I. A. Craighead, "Development of a microprocessor based control system for a pneumatic rotary actuator", Mechatronics, vol. 5, no. 5, pp. 541-560, 1995. DOI: http://dx.doi.org/10.1016/0957-4158(95)00025-Z   DOI
3 Geun-Mook kim, E-Sok Kang, "Sliding Mode Control with Velocity Feedforward Gain of a Pneumatic Motor", Journal of Control, Automation and Systems Engineering Vol. 12, No. 11, pp. 1061-1064, 2006. DOI: http://dx.doi.org/10.5302/J.ICROS.2006.12.11.1061   DOI   ScienceOn
4 Geun-Mook kim, "The Ball Screw Position Control System Driven by a Pneumatic Motor Using Continous Sliding Mode", The Korean Society of Industrials Application, Vol.11, No.4, pp.209-216, 2008.
5 F. Takemura, S. R. Pandian, Y. Nagase, H. Mizutani, Y. Hayakawa, S. Kawamura, "Control of a hybrid-pneumatic/electric motor", Proc. of IEEE Int'l Conf. on Intelligent Robots and Systems, pp. 209-214, 2000. DOI: http://dx.doi.org/10.1109/IROS.2000.894606
6 J. Pu, P. R. Moore, R. H. Weston, "Digital servo motion control of air motors", Int. J. of Production Research, vol. 29, no. 3, pp. 599-618, 1991. DOI: http://dx.doi.org/10.1080/00207549108930091   DOI
7 J. Wang, J. Pu, P. R. Moore, Z. Zhang, "Modelling study and servo control of air motor systems", Int. J. of Control, Vol. 71, no. 3, pp. 459-476, 1998. DOI: http://dx.doi.org/10.1080/002071798221777   DOI   ScienceOn
8 Min-Chang Shih, Ching-Sham 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.
9 W. Backe, "The application of servo-pneumatic drives for flexible mechanical handling techniques", Robotics, vol. 2, no. 1, pp. 45-56, 1986. DOI: http://dx.doi.org/10.1016/0167-8493(86)90021-5   DOI
10 S. R. Pandian, Y. Hayakawa, F. Takemura, 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.
11 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: http://dx.doi.org/10.1109/87.317984   DOI
12 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
13 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: http://dx.doi.org/10.1016/S0020-7225(97)00037-2   DOI
14 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: http://dx.doi.org/10.1016/S0005-1098(97)00015-0   DOI   ScienceOn
15 Wu-Chung Su, Chun-Yen Kuo, "Variable structure control of a rodless pneumatic servoactuator with discontinuous sliding surfaces", Proc. of American Control Conference, pp. 1617-1621, 2000.
16 M. Bouri, 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: http://dx.doi.org/10.1109/87.911388   DOI
17 Geun-Mook kim, E-Sok Kang,, "Development of a Pneumatically Driven 6 DOF Driving Simulator", Journal of The Korea Acamemica-Industrial cooperation Society, Vol.13,No.12, pp.6090-6097, 2013. DOI: http://dx.doi.org/10.5762/KAIS.2013.14.12.6090
18 J. Tang, G. Walker, "Variable structure control of a pneumatic actuator", Trans. of ASME, J. of Dynamic Systems, Measurement, and Control, vol. 117, no. 1, pp. 88-92, 1995. DOI: http://dx.doi.org/10.1115/1.2798526   DOI
19 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: http://dx.doi.org/10.1115/1.2801298   DOI