ADAPTIVE PNEUMATIC CONTROL WITH SPOOL DEADBAND COMPENSATION

Authors

  • Eric Wolbrecht University of Idaho, Department of Mechanical Engineering, PO Box 440902, Moscow, ID 83844-0902
  • Lucas Wells University of Idaho, Department of Mechanical Engineering, PO Box 440902, Moscow, ID 83844-0902

Keywords:

adaptive control, pneumatics, proportional control valve, deadband compensation

Abstract

This paper presents a novel approach to both adaptive deadband compensation and complete adaptive pneumatic control for a pneumatic servo control system driven by spool-type pneumatic proportional directional control valves. The controller is capable of either combined position and compliance control or combined force and compliance control. The novel adaptive approach includes control valve deadband compensation and adaptation for load variations and system mechanical properties. The control valve deadband compensation uses adjustable deadband lengths that are adapted to improve force tracking performance. The learned deadband model is then used in the complete adaptive controller, which includes adaptation for system mass, damping, and external load. The complete controller demonstrated accurate and stable force and position control for the tracking of sine, square, and sawtooth waveforms from 1 to 5 Hz.

Downloads

Download data is not yet available.

Author Biographies

Eric Wolbrecht, University of Idaho, Department of Mechanical Engineering, PO Box 440902, Moscow, ID 83844-0902

Eric Wolbrecht received the B.S. degree in mechanical engineering from Valparaiso University, Valparaiso, IN, in 1996, the M.S. degree in mechanical engineering from Oregon State University, Corvallis, in 1998, and the Ph.D. degree in mechanical and aerospace engineering from the University of California, Irvine, in 2007. He is currently an Assistant Professor in the Department of Mechanical Engineering at the University of Idaho. His research interests include robotics, state estimation, nonlinear and adaptive control, pneumatic control, compliant actuation, motor learning, and neuro-rehabilitation. Dr. Wolbrecht is a member of the American Society of Mechanical Engineering and the Institute of Electrical and Electronics Engineers.

Lucas Wells, University of Idaho, Department of Mechanical Engineering, PO Box 440902, Moscow, ID 83844-0902

Lucas Wells Born on August 7, 1985 in Twin Falls, ID (USA). He received his BS and MS in Electrical Engineering from the University of Idaho where he worked on pneumatic control systems and microelectronic power converters.

References

Bobrow, J. E. and Jabbari, F. 1989. Adaptive

pneumatic force actuation and position control.

American Control Conference, Pittsburgh, PA.

Bobrow, J. E. and Lum, K. 1996. Adaptive, high

bandwidth control of a hydraulic actuator. Journal

of Dynamic Systems, Measurement, and Control.

Vol. 118. pp. 714 - 721.

Bobrow, J. E. and McDonell, B. W. 1998. Modeling,

identification, and control of a pneumatically

actuated, force controllable robot. IEEE

Transactions on Robotics and Automation. Vol. 14.

pp. 732 - 742.

Bone, G. M. and Ning, S. 2007. Experimental

comparison of position tracking control algorithms

for pneumatic cylinder actuators. IEEE/ASME

Transactions on Mechatronics. Vol. 12. pp. 557 -

Gross, D. C., Rattan, K. S., 1998. An adaptive

multilayer neural network for trajectory

trackingcontrol of a pneumatic cylinder. IEEE

International Conference on Systems, Man, and

Cybernetics, San Diego, CA.

Knohl, T. and Unbehauen, H. 2000. Adaptive

position control of electrohydraulic servo systems

using ANN. Mechatronics. Vol. 10. pp. 127 - 143.

Kosaki, T. and Sano, M. 1997. Adaptive gain control

of pneumatic servo systems with disturbance

observers and fuzzy logic. 23rd International

Conference on Industrial Electronics, Control and

Instrumentation (IECON), New Orleans, LA.

McCloy, D. and Martin, H. R. 1980. Control of fluid

power: Analysis and design. Ellis Horwood.

Recker, D., Kokotovic, P., 1991. Adaptive nonlinear

control of systems containing a deadzone.

Proceedings of the 30th IEEE Conference on

Decision and Control, Brighton, UK.

Renn, J. C. 2002. Position control of a pneumatic

servo cylinder using fuzzy-sliding surface

controller. International Journal of Fluid Power.

Vol. 3. pp. 19 - 25.

Richer, E. and Hurmuzlu, Y. 2000. A high

performance pneumatic force actuator system: Part

I-Nonlinear mathematical model. Journal of

Dynamic Systems, Measurement, and Control. Vol.

pp. 416 - 425.

Selmic, R. R. and Lewis, F. L. 2000. Deadzone

compensation in motion control systems using

neural networks. IEEE Transactions on Automatic

Control. Vol. 45. pp. 602 - 613.

Shen, X. and Goldfarb, M. 2007. Simultaneous force

and stiffness control of a pneumatic actuator.

Journal of Dynamic Systems, Measurement, and

Control. Vol. 129. pp. 425 - 434.

Slotine, J. J. E. and Li, W. 1987. On the adaptive

control of robot manipulators. The International

Journal of Robotics Research. Vol. 6. pp. 49 - 59.

Smaoui, M., Brun, X., 2008. High-order sliding mode

for an electropneumatic system: A robust

differentiator-controller design. International

Journal of Robust and Nonlinear Control. Vol. 18.

pp. 481 - 501.

Spong, M. W. and Vidyasagar, M. 1989. Robot

dynamics and control. Wiley.

Tao, G. and Kokotovi, P. 1995. Discrete-time adaptive

control of systems with unknown deadzones.

International Journal of Control. Vol. 61. pp. 1 -

Valdiero, A. C. and Bavaresco, D., 2008.

Experimental identification of the dead zone in

proportional directional pneumatic valves.

International Journal of Fluid Power. Vol. 9. pp.

- 33.

Valdiero, A. C. and Guenther, R., 2005. New

methodology for identification of the dead zone in

proportional directional hydraulic valves. 18th

International Congress in Mechanical Engineering,

Ouro Preto, MG.

Wolbrecht, E. T. and Reinkensmeyer, D. J., 2009.

Pneumatic control of robots for rehabilitation. The

International Journal of Robotics Research. Vol.

pp. 23 - 28.

Xiang, F. and Wikander, J. 2004. Block-oriented

approximate feedback linearization for control of

pneumatic actuator system. Control Engineering

Practice. Vol. 12. pp. 387 - 399.

Downloads

Published

2018-12-30

How to Cite

Wolbrecht, E., & Wells, L. (2018). ADAPTIVE PNEUMATIC CONTROL WITH SPOOL DEADBAND COMPENSATION. International Journal of Fluid Power, 13(3), 23–37. Retrieved from https://journals.riverpublishers.com/index.php/IJFP/article/view/230

Issue

2012: Vol 13 Iss 3

Section

Original Article