Abstract
This paper introduces a pneumatic finger cylinder servo control system for medical grabbing. First, according to the physical structure of the proportional directional valve and the pneumatic cylinder, the state equation of the gas in the servo system was obtained. The Stribeck friction compensation model of a pneumatic finger cylinder controlled by a proportional valve was established and the experimental platform built. To allow the system output to better track the change in the input signal, the flow-gain compensation method was adopted. On this basis, a friction compensation control strategy based on a differential evolution algorithm was proposed and applied to the position control system of a pneumatic finger cylinder. Finally, the strategy was compared with the traditional proportional derivative (PD) strategy and that with friction compensation. The experimental results showed that the position accuracy of the finger cylinder position control system can be improved by using the friction compensation strategy based on the differential evolution algorithm to optimize the PD parameters.
Highlights
More and more intelligent devices have been developed in various industries using intelligent control theory [1, 2]
Experiments showed that the controller exhibited good control performance in a position servo system of a pneumatic finger cylinder controlled by a proportional valve
The actual hardware structure of the control system was fixed, in order to improve the dynamic performance of the system and improve the response accuracy of the system
Summary
More and more intelligent devices have been developed in various industries using intelligent control theory [1, 2]. Experiments showed that the controller exhibited good control performance in a position servo system of a pneumatic finger cylinder controlled by a proportional valve. Maximum supply pressure: 0.8 MPa Maximum working pressure: 1.0 MPa Range: 0‒1.0 MPa; accuracy: 0.3%FS 5-position 3-way valve, 0‒10 V driving voltage Cylinder diameter: 50 mm; Range of travel: 12 mm Measuring range: 35‒65 mm 16 bit analog output; − 10 ~ 10 V output voltage Standard configuration. It describes the gas flow mechanism of a valve-controlled cylinder system.
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