engleski

Nonlinear Mathematical Model of a Servo Pneumatic System

This paper deals with the mathematical modeling of a dual action rodless pneumatic actuator controlled with a voltage-actuated proportional directional control valve. The use of pneumatic systems in position and force control applications that require high bandwidth is somehow difficult. This is mainly due to the nonlinear effects in pneumatic systems caused by the phenomena associated with air compressibility, nonlinear air flow through pneumatic system components, valve dead-band, significant friction effects in the moving parts, time delay caused by the connecting tubes, oscillations of air supply pressure, etc. In this paper we develop a detailed nonlinear mathematical model, which is used in a numerical simulation program and also we performed experiments for the model validation procedure. The model is based on an analysis of solenoid valve dynamic, thermodynamic changes in pneumatic system and equation of motion including significant nonlinear effects. This dynamic model of the system can be used to build more complex control structure and to develop high performance nonlinear controllers.

pneumatic servo system; simulation model; experimental validation

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