POSITION CONTROL OF A PNEUMATIC SERVO CYLINDER USING FUZZY-SLIDING SURFACE CONTROLLER

Authors

  • Jyh-Chyang Renn National Yunlin University of Science and Technology, Department of Mechanical Engineering, Yunlin, 640 Taiwan

Keywords:

fuzzy-sliding surface control, pneumatic rodless cylinder, position control, stick-slip

Abstract

In this paper, both the PID and fuzzy-sliding surface controller are applied to the position control of a proportional-valve-controlled pneumatic rodless cylinder. Because of the highly nonlinear basic equations of pneumatic systems, the modelling of such a pneumatic servo is excluded from this paper. Besides, it is usually quite difficult to obtain a satisfac-tory position control of a pneumatic rodless cylinder because an apparent dead-zone in the response curve during the starting phase always appears. The dead-zone signifies a serious response delay. One reason for such a response dead-zone is the stick-slip friction and the nonlinear deadband of the proportional valve. In this paper, therefore, the chatter-ing output of sliding mode control is introduced to reduce the effect of stick-slip and the nonlinear fuzzy-logic-controller is employed to control this unmodelled and highly nonlinear system. Accordingly, the fuzzy-sliding surface controller is proposed, which is exactly the combination of the fuzzy-logic-controller with the sliding mode controller. There are two key features of this control scheme. One is the easier implementation of the controller as compared with that of the con-ventional fuzzy-logic-controller because the number of controller input is reduced by half. The other is the ability to reduce the response dead-zone during the starting phase. Finally, a series of experiments are carried out and the experi-mental results prove that the fuzzy-sliding surface controller is superior to the conventional PID controller.

Downloads

Download data is not yet available.

Author Biography

Jyh-Chyang Renn, National Yunlin University of Science and Technology, Department of Mechanical Engineering, Yunlin, 640 Taiwan

Jyh-Chyang Renn received the B.S. and M.S. degrees in me-chanical engineering from the National Cheng-Kung University, Taiwan, in 1985 and 1987, respectively. In 1993, he received the Ph.D. degree in IFAS (IHP) from the Technical University Aachen (RWTH Aa-chen), Germany. In 1993 he became an Associate Professor in the Department of Mechanical Engineering at the National Yunlin University of Science and Technolo-gy, Taiwan. His research interests include servo-hydraulics and servo-pneumatics.

References

Backé, W. 1993. Steuerungs- und Schaltungstechnik II, Umdruck zur Vorlesung. RWTH Aachen, Ger-many.

Chen, H. M., Su, J. P. and Renn, J. C. 2002. A novel sliding mode control of an electrohydraulic position servo system. IEICE Transactions on Fundamen-tals, Vol. E85-A, No. 8, pp. 1928-1936.

Chen, P. C. and Shih, M. C. 1991. An experimental Study on the position control of a hydraulic cylinder using a fuzzy login controller. JSME Int. J. Series C, Vol. 34, No. 8, pp. 481-489.

Chern, T. L. and Wu, Y. C. 1991. Design of Integral Variable Structure Controller and Application to Electro-hydraulic Velocity Control. IEE Proc. –D, Vol. 138, pp. 439-444.

Diong, B. M. 1997. A sliding mode control approach to the benchmark problem for nonlinear control de-sign. Proc. IECON’97, Vol. 1, pp. 68-72.

Fung, R. F., Wang, Y. C., Yang, R. T. and Huang, H. H. 1997. A variable structure control with propor-tional and integral compensations for electro-hydraulic position servo control system. Mechatron-ics, Vol. 7, pp. 67-81.

Ha, Q. P., Nquygn, H. Q., Rye, D. C. and Durrant-Whyte, H. F. 1998. Sliding mode control with fuzzy tuning for an electrohydraulic position servo system. IEEE Conf. Knowledge-Base Intelligent Electronic System, Australia, pp. 141-148.

Hung, J. Y., Gao, W. and Hung, J. C. 1993. Variable Structure Control: A Survey. IEEE, Trans. on In-dustrial Electronics, Vol. 40, No. 1, pp. 45-55.

Hwang, C.-L. 1996. Sliding mode control using time-varying switching gain and boundary layer for elec-trohydraulic position and differential pressure con-trol. IEE Proc. Control Theory Applications, Vol. 143, pp. 325-332.

Hwang, C.-L. and Lan, C. H. 1994. The position con-trol of electrohydraulic servomechanism via a novel variable structure control. Mechatronics, Vol. 4, pp. 369-391.

Kim, S. W. and Lee, J. J. 1995. Design of a Fuzzy Controller with Fuzzy Sliding Surface. Fuzzy Sets & Systems, Vol. 71, No. 3.

Merritt, H. E. 1967. Hydraulic Control Systems. John Wiley and Sons Inc., New York.

Murrenhoff, H. 1999. Grundlagen der Fluidtechnik Teil 2: Pneumatik, Umdruck zur Vorlesung. RWTH Aachen, Germany.Palm, R. 1992. Sliding Mode Fuzzy Control. IEEE, International Conference on Fuzzy Systems, pp. 519-526.

Slotine, J.-J. E. and Li, W. 1984. Sliding Controller Design for Nonlinear System. Int. J. Control, Vol. 40, pp. 421-434.

Su, W. C. and Kuo, C. Y. 2000. Variable Structure Control of a Rodless Pneumatic Servoactuator with Discontinuous Sliding Surface. Proceeding of the American Control Conference, pp.1617-1621.

Ziegler, J. G. and Nichols, N. B. 1942. Optimum Set-tings for Automatic Controllers. Trans. ASME, 64, pp. 759-768.

Downloads

Published

2002-12-01

How to Cite

Renn, J.-C. (2002). POSITION CONTROL OF A PNEUMATIC SERVO CYLINDER USING FUZZY-SLIDING SURFACE CONTROLLER. International Journal of Fluid Power, 3(3), 19–25. Retrieved from https://journals.riverpublishers.com/index.php/IJFP/article/view/618

Issue

2002: Vol 03 Iss 3

Section

Original Article