Abstract
Abstract. In order to meet the application requirements of fast-moving, accurate positioning, and low cost, a new type of pneumatic electric hybrid actuator was developed with a positioning accuracy of 0.01 mm. It was found that the velocity fluctuation would occur in the process of driving switching due to the “stop then restart” strategy, resulting in stumbling when positioning. To solve this problem, the basic characteristics of the drive switching mechanism were tested and analyzed. A driving switching strategy called “relay and run” was proposed based on the response characteristics of the locking mechanism in the braking stage and the starting characteristics of the motor. The uniform acceleration was controlled by the motor drive to compensate for the velocity loss so that the overall velocity was slowly reduced. The control model was established, and the experiments were conducted. The results showed that the relay and run switching strategy can eliminate the velocity fluctuation caused by the stop then restart strategy.
Highlights
Pneumatic actuators and electric actuators are more and more widely used in the field of industrial automation (Saravanakumar et al, 2017; Zhang et al, 2014), but they have their limitations
The electric actuator has a high positioning accuracy and good antiinterference performance, but the output force is small, and the cost is high under the long stroke (Wang et al, 2020; Qi et al, 2018)
According to the combination of driving modes, the reported pneumatic–electric hybrid actuators (PEHAs) could be divided into series drive mode and parallel drive mode (Zhang et al, 2018)
Summary
Pneumatic actuators and electric actuators are more and more widely used in the field of industrial automation (Saravanakumar et al, 2017; Zhang et al, 2014), but they have their limitations. The PEHAs with parallel drive mode had greater load capacity and could realize accurate force control, but the control algorithm was complex and the velocity was limited (Zhang et al, 2021). In the research of this actuator, it was found that the velocity fluctuation of the series-driven hybrid actuator would occur in the process of driving mode switching. To solve this problem, the response characteristics of the pneumatic locking mechanism and the starting characteristics of the motor screw pair in the process of drive switching have been analyzed in this study. PEHA no longer decreased first and increased in the switching process from pneumatic drive to motor drive
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