Abstract
This paper addresses a new methodology for servo pneumatic actuators mathematical modeling and selection from the dynamic behavior study in engineering applications. The pneumatic actuator is very common in industrial application because it has the following advantages: its maintenance is easy and simple, with relatively low cost, self‐cooling properties, good power density (power/dimension rate), fast acting with high accelerations, and installation flexibility. The proposed fifth‐order nonlinear mathematical model represents the main characteristics of this nonlinear dynamic system, as servo valve dead zone, air flow‐pressure relationship through valve orifice, air compressibility, and friction effects between contact surfaces in actuator seals. Simulation results show the dynamic performance for different pneumatic cylinders in order to see which features contribute to a better behavior of the system. The knowledge of this behavior allows an appropriate choice of pneumatic actuator, mainly contributing to the success of their precise control in several applications.
Highlights
This work presents a new methodology to identify the main nonlinear characteristics in pneumatic actuators and its mathematical modeling in engineering applications
This paper addresses a new methodology for servo pneumatic actuators mathematical modeling and selection from the dynamic behavior study in engineering applications
Valdiero et al 6 present a mathematical model to dead zone in pneumatic servo valves, followed by the method used for compensation that is made with the addition of an inverse dead zone function in the control system
Summary
This work presents a new methodology to identify the main nonlinear characteristics in pneumatic actuators and its mathematical modeling in engineering applications. Valdiero et al 6 present a mathematical model to dead zone in pneumatic servo valves, followed by the method used for compensation that is made with the addition of an inverse dead zone function in the control system. Endler 7 used the methodology of optimal feedback control for nonlinear systems proposed by Rafikov et al 12 in servo pneumatic system, and simulation results show that a full nonlinear mathematical model is important in pneumatic robot applications. The main paper contribution is to systematize its nonlinear mathematical model with some innovations such as a new equation for valve flow rate and to show how it is important for the success in control applications.
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