Sliding mode control of a pneumatic muscle actuator system with a PWM strategy

Authors

  • Ville T. Jouppila Department of Engineering Design, Tampere University of Technology, Tampere, Finland
  • S. Andrew Gadsden Department of Mechanical Engineering, McMaster University, Hamilton, Ontario, Canada
  • Gary M. Bone Department of Mechanical Engineering, McMaster University, Hamilton, Ontario, Canada
  • Asko U. Ellman Department of Engineering Design, Tampere University of Technology, Tampere, Finland
  • Saeid R. Habibi Department of Mechanical Engineering, McMaster University, Hamilton, Ontario, Canada

DOI:

https://doi.org/10.1080/14399776.2014.893707

Keywords:

pneumatic actuator, sliding mode control, solenoid valves, pulse width modulation

Abstract

In this paper, a sliding mode control (SMC) strategy is applied to a pulse width modulation (PWM)-driven pneumatic muscle actuator system using high speed on/off solenoid valves. Servo-pneumatic systems with PWM-driven on/off valves can be used instead of expensive servo valves to decrease complexity, weight, and cost of servo-pneumatic systems. Due to the highly nonlinear nature of pneumatics, the system is difficult to model accurately which leads to unmodelled dynamics and uncertainties. In this paper, a robust and nonlinear SMC approach is implemented in order to control the system with sufficient accuracy. A nonlinear model is developed in a single-input single-output form by studying the flow, pressure, and force dynamics of the system. The SMC strategy is applied to three different system configurations: single on/off valve, two on/off valves, and a servo valve. The performance and effectiveness of these configurations are investigated under sinusoidal tracking at different frequencies. The robustness of the controllers is studied by varying the inertia of the system and by applying external disturbances to the system.

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Author Biographies

Ville T. Jouppila, Department of Engineering Design, Tampere University of Technology, Tampere, Finland

Ville T. Jouppila (M.Sc ’05, TUT) is currently pursuing his PhD degree and working as a Research Scientist at the Department of Mechanical Engineering and Industrial Systems at Tampere University of Technology (TUT) in Finland. His research interests include advanced control systems in Mechatronics and Fluid Power, advanced actuator technologies, and model-based systems engineering.

S. Andrew Gadsden, Department of Mechanical Engineering, McMaster University, Hamilton, Ontario, Canada

S. Andrew Gadsden Andrew obtained his Ph.D. in the area of state and parameter estimation theory in 2011 from the Department of Mechanical Engineering at McMaster University, Canada. His work involved an optimal realization and further advancement of the smooth variable structure filter (SVSF). His background includes a broad consideration of state and parameter estimation strategies, the variable structure theory, fault detection and diagnosis, mechatronics, target tracking, cognitive systems, and neural networks. He is the recipient of a number of professional and scholarly awards, and is currently a postdoctoral Fellow at McMaster. Andrew is an Associate Editor of the Transactions of the Canadian Society for Mechanical Engineering, and is a member of the Professional Engineers of Ontario (PEO) and the Ontario Society of Professional Engineers (OSPE). He is also a member of the American Society of Mechanical Engineers (ASME) and the Institute of Electrical and Electronics Engineers (IEEE).

Gary M. Bone, Department of Mechanical Engineering, McMaster University, Hamilton, Ontario, Canada

Gary M. Bone received his B.Sc. (Ap.Sc.) degree from the Department of Mechanical Engineering, Queen’s University, Canada, and his M.Eng. and Ph.D. degrees from McMaster University in 1986, 1988, and 1993, respectively. He joined the Faculty of Engineering at McMaster University in 1994, where he is currently a Professor in the Department of Mechanical Engineering. His research interests include: servo pneumatic actuators, robot design, robot control, and machine vision.

Asko U. Ellman, Department of Engineering Design, Tampere University of Technology, Tampere, Finland

Asko U. Ellman (M.Sc ’85, PhD ’92, TUT) is a Professor at the Department of Mechanical Engineering and Industrial Systems. He is the leader of Virtual Design research group. His research interests include Virtual Design, Mechatronics and Fluid Power.

Saeid R. Habibi, Department of Mechanical Engineering, McMaster University, Hamilton, Ontario, Canada

Saeid R. Habibi Saeid is currently Director of the Centre for Mechatronics and Hybrid Technology and a Professor in the Department of Mechanical Engineering at McMaster University. Saeid obtained his Ph.D. in Control Engineering from the University of Cambridge, U.K. His academic background includes research into intelligent control, state and parameter estimation, fault diagnosis and prediction, variable structure systems, and fluid power. The application areas for his research have included aerospace, automotive, water distribution, robotics, and actuation systems. He spent a number of years in industry as a Project Manager and Senior Consultant for Cambridge Control Ltd, U.K., and as Senior Manager of Systems Engineering for AlliedSignal Aerospace Canada. He received two corporate awards for his contributions to the AlliedSignal Systems Engineering Process in 1996 and 1997. He was the recipient of the Institution of Electrical Engineers (IEE) F.C. Williams best paper award in 1992 for his contribution to variable structure systems theory. He was also awarded an NSERC Canada International Postdoctoral Fellowship that he held at the University of Toronto from 1993 to 1995, and more recently

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2018-12-29

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