Abstract
This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC) is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally.
Highlights
The rapid development of high technology industries has resulted in increasing needs for precision positioning and high-speed actuation facilities in the semiconductor, manufacturing, and biomedical engineering industries
Rod-less pneumatic a large stroke cylinder,The wasmathematical assigned in amodels verticalof direction, where where gravity effects actuator, render asymmetric motions
A large-stroke asymmetric pneumatic system were analyzed in analytical forms
Summary
The rapid development of high technology industries has resulted in increasing needs for precision positioning and high-speed actuation facilities in the semiconductor, manufacturing, and biomedical engineering industries. At present, these industries must urgently develop highly precise and highly responsive manufacturing and medical facilities. The manufacturing industry has emphasized high precision and high efficiency by replacing manual labor in mass production with robot equipment. These robots are mostly actuated by fully developed motor systems, but they tend to impose constraints on assembly spaces within factories.
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