In this paper an extensive set of experiments and a related mathematical model investigating the dynamics of pneumatic actuators controlled by on-off solenoid valves, whose opening and closing time response is based on a pulse width modulation (PWM) technique, is presented. The experimental set-up consists of both commercial electronics and circuits appropriately realized where particular needs are required. As well as providing a highly repeatable set of measurements, valuable for future comparisons, the experimental investigation also provides an appropriate base aimed at testing the performances of the analytical model. The analytical- experimental comparisons show the ability of the theoretical model to provide an accurate mean expectation of the position of the actuator less than about 2 mm. Such a capability of the model is tested for several operating and initial conditions during the first five cycles. The present theoretical model dealing with a non-linear dynamics phenomena whose behaviour is highly transient should be considered an attempt aimed at providing a valuable tool for designing control strategies without the need for expensive physical models.
Experimenting and modelling the dynamics of pneumatic actuators controlled by the pulse width modulation (PWM) technique
MESSINA, Arcangelo;GIANNOCCARO, NICOLA IVAN;
2005-01-01
Abstract
In this paper an extensive set of experiments and a related mathematical model investigating the dynamics of pneumatic actuators controlled by on-off solenoid valves, whose opening and closing time response is based on a pulse width modulation (PWM) technique, is presented. The experimental set-up consists of both commercial electronics and circuits appropriately realized where particular needs are required. As well as providing a highly repeatable set of measurements, valuable for future comparisons, the experimental investigation also provides an appropriate base aimed at testing the performances of the analytical model. The analytical- experimental comparisons show the ability of the theoretical model to provide an accurate mean expectation of the position of the actuator less than about 2 mm. Such a capability of the model is tested for several operating and initial conditions during the first five cycles. The present theoretical model dealing with a non-linear dynamics phenomena whose behaviour is highly transient should be considered an attempt aimed at providing a valuable tool for designing control strategies without the need for expensive physical models.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
