Journal articles: 'Pneumatic control Computer simulation'

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Vujičić, Vojislav, Snežana Dragićević, Milan Marjanović, Dragana Ocokoljić, Marko Popović, and Ivan Milićević. "Laboratory electro-pneumatic motion control setup." IMK-14 - Istrazivanje i razvoj 26, no. 3 (2020): 75–80. http://dx.doi.org/10.5937/imk2003075v.

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Studying the dynamic behaviour of objects or systems in response to conditions cannot always be easily or safely applied in real life. Computer simulations in engineering are very important as it solves real-world problems safely and efficiently. It provides an important method of analysis which is easily verified, communicated, and understood. Across industries and disciplines, simulation modelling provides valuable solutions by giving clear insights into complex systems. A system presented in this paper is a pneumatic sheet metal bending laboratory setup. An electro-pneumatic motion control of this system is modelled and simulated in FluidSim software. This system is also physically built using main pneumatic and electrical components with PLC. Described laboratory setup in this paper was used in the education of students and significant enchantment in the understanding of how similar systems work was noticed.

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Кabyshev, A. M., V. V. Khmara, and M. P. Maslakov. "Development and computer based simulation of pneumatic conveying control system." IOP Conference Series: Earth and Environmental Science 194 (November 15, 2018): 022049. http://dx.doi.org/10.1088/1755-1315/194/2/022049.

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Akagi, Tetsuya, Shujiro Dohta, and Hisashi Matsushita. "Analysis of an Opto-Pneumatic Control System and Improvement of its Control Performance." Journal of Robotics and Mechatronics 11, no. 4 (August 20, 1999): 251–57. http://dx.doi.org/10.20965/jrm.1999.p0251.

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This paper describes an analysis of an opto-pneumatic control system and an improvement of control performance of the system. The opto-pneumatic system consists of an optical servo valve, a pneumatic cylinder and a cart. First, we built an analytical model of the system considering a nonlinear friction where exists in sliding parts. And we confirmed the validity of the proposed model by comparing theoretical results with experimental results of the characteristics of optical servo valve and cart position control. Then, we applied a sliding mode control scheme compensating a steady-state disturbance to multi- position control and follow-up control of a cart. By computer simulation, we confirmed that the control performance of opto-pneumatic control system was improved by using this control scheme.

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Tang, J., and G. Walker. "Variable Structure Control of a Pneumatic Actuator." Journal of Dynamic Systems, Measurement, and Control 117, no. 1 (March 1, 1995): 88–92. http://dx.doi.org/10.1115/1.2798526.

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In an effort to overcome the nonlinerities associated with a pneumatic system the variable structure control (VSC) technique has been employed to control the position of a pneumatic actuator. To accomplish this a model of a pneumatic actuator was developed to allow the control systems to be studied via simulations. The results from the simulations indicated that the VSC technique can position the actuator rapidly, via first-order trajectory, in response to a step input. An experimental study of the VSC control system was then performed. These experiments verified the simulation work, and demonstrated that inherent system delays and the quantisation of the control signals can cause and uncontrollable oscillatory behaviour; stability limits were established for three of the system parameters. It was also found, that the actuator could be placed within ±5 mm of the desired position.

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PARKHOMENKO, S. G., and G. G. PARKHOMENKO. "SIMULATION OF AUTOMATIC CONTROL SYSTEMS OF TILLAGE UNITS." Traktory i sel hozmashiny 84, no. 1 (January 15, 2017): 22–31. http://dx.doi.org/10.17816/0321-4443-66258.

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The studies were performed to improve workflow of hydraulic automatic control systems of the tillage units. Tillage quality should not deteriorate. Working bodies of tillage machines have to be moved automatically. Automated devices can be separated into two groups: direct and indirect action. It is preferable to indirect action. The article presents analysis of automatic devices used into tillage machines. Automatic control systems can be hydraulic, electro-hydraulic and pneumatic. Mechanical systems are not effective. Hydraulic systems are cheaper electric and pneumatic. They provide best of energy and quality indicators of technological process of tillage. Automatic control systems are uses draft forces, hitch position, depth of the implement, speed, acceleration and other sensors. Method of computer modeling and optimization of hydraulic automatic control systems of tillage units was developed. Results of computer modeling of hydraulic automatic control systems help to select direction of improving quality and energy indicators of technological process of tillage. Optimized combine implement depth and draft control system of arable unit allow reducing deviation the draft force of the plow; deviation of the depth of plowing is equal to or smaller than agro-technical requirements. Deviation of the draft force was decreased to 13.5 % for deviation specific soil resistance - 20 %, depth of plowing - 0.21 m, deviation of the depth of plowing - 0.019 m (9 %). Deviation of the depth of plowing may be decreased to 0.010 m (4,8 %), but deviation of the draft force shell be increased up to 16.2%. Optimized hydraulic automatic control system of garden tiller with a trapezoidal mechanism leaves smaller untreated soil area from 1.37-1.46 times.

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Chung, Jae H., and Changhoon Kim. "Modeling and control of a new robotic deburring system." Robotica 24, no. 2 (October 31, 2005): 229–37. http://dx.doi.org/10.1017/s0263574705002067.

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This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

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Ghinea, M., M. Agud, and M. Bodog. "Simulation of Pneumatic Systems Using Automation StudioTM Software Platform." International Journal of Simulation Modelling 19, no. 4 (December 5, 2020): 655–66. http://dx.doi.org/10.2507/ijsimm19-4-541.

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Nowadays, more and more industrial applications use pneumatic systems instead of hydraulic, electrical or mixed systems. This article presents the applicability of pneumatic engines for compressed air vehicles (CAV) from the perspective of their simulation on the Automation Studio software platform. It is desired to use the mechanical work produced by only pneumatic cylinders taken over by a mechanical system that transforms the linear motion into a rotational one, this helping to propel the CAV. A feature of this engine is the limited quantity of compressed air at disposal (a reservoir). Also, the most efficient operation of the pneumatic cylinders is studied to achieve the operation with low consumption of compressed air, thus leading to increased performances. The current simulation was run without the use of specific electric/electronic equipment (PLC /PACs). Therefore, the pneumatic devices had assured the command and control of the system.

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Heidari, Mohammad, and Hadi Homaei. "Quadratic Optimal Regulator Design of a Pneumatic Control Valve." Modelling and Simulation in Engineering 2013 (2013): 1–8. http://dx.doi.org/10.1155/2013/862190.

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Pneumatic control valves are still the most used devices in the process industries, due to their low cost and simplicity. This paper presents a regulator for pneumatic control valves using pole-placement method, optimal control, full-order state observer, and minimum-order state observer and their responses will be compared with each other. Bondgraph method has been used to model the control valve. Simulation results have been made for four models of regulator. The results show that minimum overshoot and settling time are achieved using optimal regulator of pneumatic valve.

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Sanada, Kazushi, and Yuki Akiyama. "Power-Assist Chair Using Pneumatic Actuator." International Journal of Automation Technology 5, no. 4 (July 5, 2011): 502–7. http://dx.doi.org/10.20965/ijat.2011.p0502.

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The power-assist chair we propose helps the user stand from a sitting position in the chair and sit down. The pneumatic cylinder pushes the seat up. The seat angle is detected by a rotary potentiometer and force acting on the user’s foot is measured by a force sensor. These signals are input to a computer and cylinder pressure is controlled so the seat simulates a spring. We also propose the concept of motion-sensing control based on real-time modification of a nominal seatangle pattern that, in turn, is based on the difference between a nominal pattern and the actual pattern of the foot force. A pneumatic simulation model was built to ensure power-assist chair use motion-sensing control. Experiment and simulation confirmed that the power-assist chair’s motion-sensing control operated as intended.

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Gorce, P., and M. Guihard. "Joint Impedance Pneumatic Control for Multilink Systems." Journal of Dynamic Systems, Measurement, and Control 121, no. 2 (June 1, 1999): 293–97. http://dx.doi.org/10.1115/1.2802468.

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In this paper, we propose a general controller for complex tasks such as coordination or manipulation for grasping systems or dynamic gaits for legged robots. Moreover, this controller is adapted to pneumatic actuated structures. The aim is then to ensure a dynamic tracking of position and force for systems which may interact with the environment or cooperate with each other. For that, we propose a nonlinear controller based on a computed torque method taking into account the actuator and the mechanical models. The originality lays in the consideration of impedance behaviour at each joint during free and constrained tasks. It leads to continuous control laws between contact and non-contact phases. The asymptotic stability is ensured using Popov criteria. The application proposed is the control of one pneumatic leg of a biped robot. We present a dynamic model of the leg and chosen trajectories. Simulation results of this new controller are presented, leading to a good behaviour of the leg during a whole walking cycle at relatively high velocities.

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Sun, Zhibo, Yan Shi, Na Wang, Jian Zhang, Yixuan Wang, and Shaofeng Xu. "Mechanism and Optimization of a Novel Automobile Pneumatic Suspension Based on Dynamic Analysis." Electronics 10, no. 18 (September 11, 2021): 2232. http://dx.doi.org/10.3390/electronics10182232.

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Pneumatic suspension is the most significant subsystem for an automobile. In this paper, a simplified and novel pneumatic spring structure with only a conical rubber surface is presented and designed to reduce the influence of external factors besides the pneumatic. The nonlinear stiffness of the pneumatic spring is analyzed based on the ideal gas model and material mechanics. Natural frequency analysis and the transmission rate of the pneumatic suspension are obtained as two effect criteria for the dynamic model. The vibration isolation system platform is established in both simulation and prototype tests. With the results from the simulation, the rules of the pneumatic suspension are analyzed, and the optimal function of mass and pressure is achieved. The experiment results show the analysis of the simulation to be effective. This achievement will become an important basis for future research concerning precise active control of the pneumatic suspension in vehicles.

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Xavier, Matheus S., Andrew J. Fleming, and Yuen Kuan Yong. "Design and Control of Pneumatic Systems for Soft Robotics: A Simulation Approach." IEEE Robotics and Automation Letters 6, no. 3 (July 2021): 5800–5807. http://dx.doi.org/10.1109/lra.2021.3086425.

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Krejnin, G. V., I. L. Krivz, and L. A. Smelov. "Improved Positioning of Pneumatic Cylinder by Using Flexible Coupling between the Piston and Rod." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 206, no. 6 (November 1992): 431–35. http://dx.doi.org/10.1243/pime_proc_1992_206_151_02.

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Positioning accuracy of a pneumatic piston drive with flexible coupling between the piston and rod is considered. Improved positioning was expected due to the fact that the rod friction is usually considerably less than the piston friction. When the piston stops under the action of its friction force the rod continues the motion, providing the precision positioning of the output link. A mathematical model of a positioning pneumatic piston drive with two degrees of freedom was generated. Computer simulation of the performance of short and long strokes showed the feasibility of the improved positioning which provided design and control parameter optimization.

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Kim, Gyoosuk, Shinill Kang, Hyeonseok Cho, Jeicheong Ryu, Museoung Mun, and Kyunghoon Kim. "Modeling and simulation of powered hip orthosis by pneumatic actuators." International Journal of Control, Automation and Systems 8, no. 1 (February 2010): 59–66. http://dx.doi.org/10.1007/s12555-010-0108-9.

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Muftah, Mohamed Naji, Ahmad Athif Mohd Faudzi, Shafishuhaza Sahlan, and Shahrol Mohamaddan. "Intelligent Position Control for Intelligent Pneumatic Actuator with Ball-Beam (IPABB) System." Applied Sciences 12, no. 21 (November 1, 2022): 11089. http://dx.doi.org/10.3390/app122111089.

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A pneumatic actuator system is considered extremely nonlinear, making accurate position control of this actuator difficult to obtain. In this article, a novel cascade fractional-order PID (CFOPID) controller for the intelligent pneumatic actuator (IPA) positioning system utilizing particle swarm optimization (PSO) is presented. The pneumatic system was modeled using the system identification (SI) technique. To demonstrate the effectiveness of the CFOPID controller, a comparison to the FOPID controller is performed based on the rise, settling, and peak times, peak overshoot, and integral of square error (ISE). From the results obtained, the proposed CFOPID controller provides superior control over the FOPID controller. For the application of the position controller, the proposed system incorporates an intelligent pneumatic actuated ball and beam (IPABB) system. The mathematical model of the system was developed and validated through a simulation utilizing a PID (outer loop) and CFOPID controller (inner loop). The suggested controller’s accuracy and robustness have been studied by a comparative examination of the results obtained utilizing the proposed and other prior controllers on the same system. The results indicate that the intelligent pneumatic actuator, when coupled with a CFOPID controller, is capable of controlling the positioning of the ball and beam system.

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Mi, Juncheng, Guoqin Huang, and Jin Yu. "Characterization and Joint Control Study of Pneumatic Artificial Muscles." Applied Sciences 13, no. 2 (January 13, 2023): 1075. http://dx.doi.org/10.3390/app13021075.

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Physical dynamic characteristics and control studies were conducted for pneumatic artificial muscle (PAM), the core component of the drive of lower limb rehabilitation robots. Firstly, a static model and a dynamic model of the pneumatic artificial muscle were established. Then a test bench was designed to perform dynamic characteristic test simulations and experiments. After that, the pneumatic artificial muscle test bench was designed to simulate and test its dynamic characteristics. Finally, a typical PID (Proportional Integral Derivative) controller was built to perform control simulations and step control experiments for the pneumatic artificial muscle. Experiments show that the PID can achieve stable and accurate tracking of the signal and meet the application requirements of PAM.

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Wang, Zong Ming, and Jian Yong Zuo. "Simulation of Wheel Slide Protection System for Railway Vehicles." Advanced Materials Research 765-767 (September 2013): 374–77. http://dx.doi.org/10.4028/www.scientific.net/amr.765-767.374.

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Computer simulation was used to study WSP (Wheel Slide Protection) system in this paper. The model of WSP system was built. Simulation model can avoid real vehicle tests or laboratory bench which will cost a lot of time and expenses. The WSP system model was composed of pneumatic model, mechanical model and control model. Three models were connected with each other and formed a closed loop system. The result shows that the simulation model has most characteristics of WSP system. The model can be used in the study of WSP system instead of the real system.

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MILECKI, Andrzej, and Dominik RYBARCZYK. "Investigations of applications of smart materials and methods in fluid valves and drives." Journal of Machine Engineering 19, no. 4 (December 20, 2019): 122–34. http://dx.doi.org/10.5604/01.3001.0013.6235.

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In the paper the investigations performed at the Division of Mechtronic Devices at Poznan University of Technology in the area of application of both: smart materials in electro-hydraulic and electro-pneumatic valves, and new methods to control of hydraulic servo drives, are presented. In a first part the piezo bender actuator is shortly described and its application in servo valve is proposed. This actuator replaced the torque motor in the available on the market servo valve. The new valve simulation model is proposed. The simulation and investigations results of the servo valve with the piezo bending actuator are included. In the next part of the paper the application of piezo tube actuator in flapper-nozzle pneumatic valve is described. The test stand and investigations results are presented. Later, in the article, the Model Following Control (MFC) and Fractional order Control (FoC) methods are described. Their application in control of electrohydraulic servo drive is proposed. Some investigations results are included in the paper, showing the advantages of those control methods.

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Hrušková, Erika, Miriam Matúšová, and Štefan Václav. "Design of Construction and Controlling of Automation Technics in Order to Improve Skills of Students." Multidisciplinary Aspects of Production Engineering 4, no. 1 (September 1, 2021): 120–31. http://dx.doi.org/10.2478/mape-2021-0011.

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Abstract The article summarizes the experience, skills of the students of technical subjects teaching methodologies using a number of software products. Solve specific assigned tasks described in this paper. Task is about the problems of automation and mechanization in the industry. That helps to improve the skills of praxis, through the design of construction and of controlling. Specifically it focuses on introducing automation in the wood industry. Article describes the design of the automation process for marking wooden hammers. Similar problems are solved by students in Computer Aided (CA) systems. The control process of automation is realized through the electro-pneumatic circuits. These circuits are creating in software FluidSIM 4 that is used as a simulation tool. FluidSIM 4 is comprehensive software for creation, simulation, instruction and study of electro-pneumatic, electro-hydraulic and digital circuits.

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Chen, Chang, Jiteng Sun, Long Wang, Guojin Chen, Ming Xu, Jing Ni, Rizauddin Ramli, Shaohui Su, and Changyong Chu. "Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure." Materials 15, no. 4 (February 13, 2022): 1358. http://dx.doi.org/10.3390/ma15041358.

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This paper presents a rigid-flexible composite of bionic hand structure design scheme solution for solving the problem of low load on the soft gripping hand. The bionic hand was designed based on the Fast Pneumatic Network (FPN) approach, which can produce a soft finger bending drive mechanism. A soft finger bending driver was developed and assembled into a human-like soft gripping hand which includes a thumb for omnidirectional movement and four modular soft fingers. An experimental comparison of silicone rubber materials with different properties was conducted to determine suitable materials. The combination of 3D printing technology and mold pouring technology was adopted to complete the prototype preparation of the bionic hand. Based on the second-order Yeoh model, a soft bionic finger mathematical model was established, and ABAQUS simulation analysis software was used for correction to verify the feasibility of the soft finger bending. We adopted a pneumatic control scheme based on a motor micro-pump and developed a human–computer interface through LabView. A comparative experiment was carried out on the bending performance of the finger, and the experimental data were analyzed to verify the accuracy of the mathematical model and simulation. In this study, the control system was designed, and the human-like finger gesture and grasping experiments were carried out.

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Kim, Changhoon, and Jae H. Chung. "Modeling and Control of a New Robotic Deburring System." Journal of Manufacturing Science and Engineering 129, no. 5 (February 23, 2007): 965–72. http://dx.doi.org/10.1115/1.2738514.

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This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method was developed by decomposing the robotic deburring system into two subsystems: the arm and the deburring tool. A decentralized control approach was pursued in which suitable controllers were designed for the two subsystems in the coordination scheme. Robust feedback linearization was utilized to minimize the undesirable effect of external disturbances, such as static and Coulomb friction and nonlinear compliance of the pneumatic cylinder stemming from the compressibility of air. The developed coordination control method demonstrated its efficacy in terms of deburring accuracy and speed. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

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Šitum, Željko, and Danko Ćorić. "Position Control of a Pneumatic Drive Using a Fuzzy Controller with an Analytic Activation Function." Sensors 22, no. 3 (January 27, 2022): 1004. http://dx.doi.org/10.3390/s22031004.

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The fuzzy logic controller, which uses an analytic activation function for the defuzzification procedure, was applied to the position control of a servo pneumatic drive controlled by a proportional valve. The Gaussian shape of input fuzzy sets, with the possibility of their modification, was used to fuzzify the input signal. The control signal was determined by introducing an analytic function instead of defining the fuzzy rule base. In this way, a conventional 2-D fuzzy rule table base is modified into 1-D fuzzy defuzzification based on an analytic function to calculate the controller output. In this control algorithm, the problem of conventional fuzzy logic control, in terms of the exponential growth in rules as the number of input variables increases, is eliminated. The synthesis controller procedure is adjusted to the flow rate characteristic of the proportional valve. The developed control algorithms are verified by computer simulation and by testing on a real pneumatic rodless cylindrical drive.

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Wu, Rong, Zheng Fei Yu, Ren Yang, and Yan Jun Chen. "Research of Static and Dynamic Characteristic Simulation and Experiment for the Sliding Valve." Advanced Materials Research 756-759 (September 2013): 4357–62. http://dx.doi.org/10.4028/www.scientific.net/amr.756-759.4357.

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in the hydraulic and pneumatic system, spool valve is the spool component which is widely used in various types of control valves. Generally, valve spool, use fluid pressures as control signals, regulates the opening and closing of the pipeline, the pressure and flow of the system automatically. The spool valves static and dynamic quality impacts the system performance greatly. Researching its characteristic has practical implications to improve the performance of related products and optimize the system design. This article aims at researching the influences, on the static and dynamic characteristics of the sliding spool valve, caused by different structural parameters, through mathematical modeling, computer simulation and experimental tests.

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Zhu, Liangliang, Ting Xu, Xiaoyu Liu, Mengqi Wu, Xuehan Zhou, and Fei Gao. "Test and Simulation Study on the Static Load and Pure Longitudinal Slip Characteristics of Non-Pneumatic Tire." Machines 11, no. 1 (January 10, 2023): 86. http://dx.doi.org/10.3390/machines11010086.

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Compared with pneumatic tires, non-pneumatic tires have incomparable performance, in terms of load bearing and safety. In this paper, the static load characteristics and pure longitudinal slip characteristics of the non-pneumatic tire are studied by combining experiments and simulations. The test results show that the radial stiffness of the original structure is nonlinear, the pure longitudinal sliding characteristics are seriously inconsistent, the brakes are very sensitive, and the driving is slightly soft. A series of designs have been carried out from the aspects of load-bearing mode and anti-symmetry of the structure, and numerical simulations have been carried out. The results show that the radial secant stiffness of the optimized structure II is increased by 58.8%, and the radial tangent stiffness is increased by 2.96 times, under the premise of ensuring the mass reduction. Additionally, the R square is 0.9932, and the linearity of the radial stiffness curve is greatly improved. The braking and driving conditions under pure longitudinal sliding characteristics are more antisymmetric, which greatly improves the braking sensitivity, but the driving performance is not as good as the original structure. In addition, this paper establishes the evaluation index of the non-pneumatic tire carrying mode, which lays the foundation for further exploration of the non-pneumatic tire carrying mechanism.

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Liu, Tingrui, Ailing Gong, Changle Song, and Yuehua Wang. "Sliding Mode Control of Active Trailing-Edge Flap Based on Adaptive Reaching Law and Minimum Parameter Learning of Neural Networks." Energies 13, no. 5 (February 25, 2020): 1029. http://dx.doi.org/10.3390/en13051029.

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Theoretical modeling and the sliding mode control (SMC) of an active trailing-edge flap of a wind turbine blade based on the adaptive reaching law are investigated. The blade is a single-celled thin-walled composite structure using circumferentially asymmetric stiffness (CAS) design, exhibiting displacements of flap-wise/twist coupling. A reduced structural model originated from the variation method is used to model the structure of the blade, the structural damping of which is computed. The trailing-edge flap is a rigid structure that is embedded in and hinged to the blade host structure, and it is driven by two pairs of pneumatic cylinders moving in reverse. Flutter suppression for the large-amplitude vibration of the blade tip is investigated based on an active trailing-edge flap structure and SMC algorithm using the adaptive reaching law. The controlled responses of flap-wise/twist displacements and control inputs (the angles of the trailing-edge flap) are illustrated, with obvious simulation effects demonstrated. An experimental platform for driving the pneumatic cylinders verifies the effectiveness of the control algorithm using the adaptive reaching law and the effectiveness of the selected pneumatic transmission scheme controlled by another adaptive SMC based on the minimum parameter learning of neural networks.

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VERRELST, BJÖRN, JIMMY VERMEULEN, BRAM VANDERBORGHT, RONALD VAN HAM, JORIS NAUDET, DIRK LEFEBER, FRANK DAERDEN, and MICHAEL VAN DAMME. "MOTION GENERATION AND CONTROL FOR THE PNEUMATIC BIPED "LUCY"." International Journal of Humanoid Robotics 03, no. 01 (March 2006): 67–103. http://dx.doi.org/10.1142/s0219843606000655.

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This paper reports on the control structure of the pneumatic biped "Lucy." The robot is actuated with pleated pneumatic artificial muscles which have interesting characteristics that can be exploited for legged machines. They have a high power-to-weight ratio, an adaptable compliance and they can reduce impact effects. The current control architecture focuses on the trajectory generator and the tracking controller, which is divided into a computed torque controller, a delta-p unit, a PI position controller and a pressure bang-bang controller. The trajectory generator provides polynomial joint trajectories while the computed torque, combined with the delta-p unit, calculates the required muscle pressure levels. The PI and bang-bang controller work at a pressure level to cope with modeling errors and to set the pressures in each muscle. The control design is divided into single support and double support, where specifically the computed torque differs for these two phases. The proposed control architecture is evaluated with a full hybrid dynamic simulation model of the biped. This simulator combines the dynamical behavior of the robot with the thermodynamical effects that take place in the muscle-valves system. The observed hardware limitations of the real robot and expected model errors are taken into account in order to give a realistic qualitative evaluation of the control performance and to test the robustness. A preliminary implementation of the presented controller on the real biped, representing a walking motion of the robot while both feet are in the air, is discussed. This first implementation shows already promising results concerning tracking performance of the proposed control architecture. It confirms that the pneumatic tracking system can be used for a dynamic application such as a biped walking robot.

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Zhang, Yu, Wenchuan Zhao, Ning Wang, and Dengyu Lu. "Development and Performance Analysis of Pneumatic Soft-Bodied Bionic Basic Execution Unit." Journal of Robotics 2020 (November 3, 2020): 1–13. http://dx.doi.org/10.1155/2020/8860550.

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This paper studies the design of pneumatic soft-bodied bionic basic execution unit with soft-rigid combination, which can be used as an actuator for pneumatic soft-bodied robots and soft-bodied manipulators. This study is inspired by structural characteristics and motion mechanism of biological muscles, combined with the nonlinear hyperelasticity of silica gel and the insertion of thin leaf spring structure in the nonretractable layer. Response surface analysis and numerical simulation algorithm are used to determine the optimal combination of structural dimension parameters by taking the maximum output bending angle of the basic executing unit as the optimization objective. Based on Odgen’s third-order constitutive model, the deformation analysis model of the basic execution unit is established. The physical model of pneumatic soft-bodied bionic basic execution unit is prepared through 3D printing, shape deposition, soft lithography, and other processing methods. Finally, the motion and dynamic characteristics of the physical model are tested through experiments and result analysis, thus obtaining curves and empirical formulas describing the motion and dynamic characteristics of the basic execution unit. The relevant errors are compared with the deformation analysis model of the execution unit to verify the feasibility and effectiveness of the design of the pneumatic soft-bodied bionic basic execution unit. The above research methods, research process, and results can provide a reference for the research and implementation of pneumatic and hydraulic driven soft-bodied robots and grasping actuators of soft-bodied manipulators.

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Huan, Honglun, Liang Cheng, and Yinglin Ke. "Dynamic modeling and sensitivity analysis of dual-robot pneumatic riveting system for fuselage panel assembly." Industrial Robot: An International Journal 43, no. 2 (March 21, 2016): 221–30. http://dx.doi.org/10.1108/ir-04-2015-0063.

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Purpose – The purpose of this paper is to present a dual-robot pneumatic riveting system for fuselage panel assembly, including the system design, dynamic analysis and sensitivity analysis. The dual-robot pneumatic riveting system is designed to improve riveting efficiency and quality, thus finally replace the traditional two-man riveting mode where possible. Design/methodology/approach – The dual-robot pneumatic riveting system has been designed by considering vibration reduction for the tools and isolation for robots. Nonlinear multi-body dynamic model including clearance and collision is established for investigating the dynamic performance and analyzing the systemic sensitivities with respect to the key variations. Semi-implicit Runge–Kuta algorithm is used for solving the dynamic equations and shop experiments are implemented to verify the effectiveness of the numerical simulations. Findings – The simulation results show the tools can be held stably enough for riveting operation and the system sensitivity with respect to robot gesture can achieve the expected level. The experiment validates the proposed system with a good performance, and the riveting quality could adequately meet the requirements. The system is capable of installing an aluminum alloy countersunk 5 mm diameter rivet in 5 s. Practical implications – The dual robot pneumatic riveting system is successfully developed and test. It has been applied in a project of fuselage panel assembly in the aircraft manufacturing industry in China. Originality/value – To replace the traditional manual rivet installation, this paper presents a dual robot pneumatic riveting system and includes both the system design and dynamic analysis.

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Jien, S., S. Hirai, and K. Honda. "Miniaturized Unconstrained on– off Pneumatic Poppet Valve—Experiment and Simulation." IEEE/ASME Transactions on Mechatronics 14, no. 5 (October 2009): 626–35. http://dx.doi.org/10.1109/tmech.2009.2011049.

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30

Liljebäck, Pål, Øyvind Stavdahl, and Kristin Y. Pettersen. "Modular Pneumatic Snake Robot: 3D Modelling, Implementation And Control." Modeling, Identification and Control: A Norwegian Research Bulletin 29, no. 1 (2008): 21–28. http://dx.doi.org/10.4173/mic.2008.1.2.

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31

Muškinja, Nenad, Matej Rižnar, and Marjan Golob. "Optimized Fuzzy Logic Control System for Diver’s Automatic Buoyancy Control Device." Mathematics 11, no. 1 (December 21, 2022): 22. http://dx.doi.org/10.3390/math11010022.

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In this article, the design of a fuzzy logic control system (FLCS) in combination with multi-objective optimization for diver’s buoyancy control device (BCD) is presented. To either change or maintain the depth, the diver manually controls two pneumatic valves that are mounted on the inflatable diving jacket. This task can be very difficult, especially in specific diving circumstances such as poor visibility, safety stop procedures or critical life functions of the diver. The implemented BCD hardware automatically controls the diver’s depth by inflating or deflating the diver’s jacket with two electro-pneumatic valves. The FLCS in combination with the multi-objective optimization was used to minimize control error and simultaneously ensure minimal air supply consumption of the BCD. The diver’s vertical velocity is also critical, especially while the diver is ascending during the decompression procedure; therefore, a combination of depth and vertical velocity control was configured as a cascaded controller setup with outer proportional depth and inner FLCS vertical velocity control loops. The optimization of the FLCS parameters was achieved with differential evolution global optimum search algorithm. The results obtained were compared with the optimized cascaded position and velocity PID controller in simulations.

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32

Ye, N., S. Scavarda, M. Betemps, and A. Jutard. "Models of a Pneumatic PWM Solenoid Valve for Engineering Applications." Journal of Dynamic Systems, Measurement, and Control 114, no. 4 (December 1, 1992): 680–88. http://dx.doi.org/10.1115/1.2897741.

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PWM (Pulse width modulated) solenoid valves possess the advantages of low cost, high flow rate gain, and simple structure. However, the use of a PWM solenoid valve causes both discontinuity and nonlinearity of the flow rate; this results in difficulties of modeling and of control. This paper presents our work on modelling a pneumatic PWM solenoid valve for engineering applications. Two models are presented: one is the instantaneous mass flow rate model which can be used in the simulation to study the dynamic behavior of pneumatic PWM control systems; another model is the equivalent mass flow rate model which is developed for facilitating the synthesis of pneumatic PWM servomechanisms. An equation for determining the maximum operating modulation ratio of the PWM solenoid valve is also presented. Simulated results using the established models are compared with the experimental results for both the static characteristics of a PWM solenoid valve and the dynamic behavior of a system composed of a PWM solenoid valve and a constant volume chamber.

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33

Xu, Jun, Jiapeng Zuo, and Gangyan Li. "A MIG Welding Clamping Scheme for Power Battery Enclosure’s Deformation Restrain." Applied Sciences 12, no. 13 (June 29, 2022): 6598. http://dx.doi.org/10.3390/app12136598.

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Aiming at the inward shrinkage between the frame and the bottom plate of the power battery enclosure after MIG (melt inert-gas) welding, a welding clamping scheme with hook-pull devices was designed. By adjusting the clamping force of the hook-pull device, the MIG welding deformation force was counteracted, so the inward shrinkage deformation of the frame after welding was restrained. To obtain the deformation force during the MIG welding, the welding simulation model of power battery enclosure was established. Gaussian heat source model was selected as temperature load. Through the numerical simulation and experimental analysis of the temperature field, the numerical simulation results are in good agreement with the measured thermal cycle curve in terms of temperature value and change trend. The error between numerical simulation result curve and measured thermal cycle curve at the measurement point is no more than 10%, which can meet the simulation requirements. Based on the simulation model and the load of the temperature field, deformation force curves were obtained by simulating the welding process. To counteract the MIG welding deformation force, a pneumatic servo control system of the welding clamp was designed, which can generate equal and reversed welding deformation force. The experiments show that the actual output force of the system has a tiny time delay and fluctuates with the varies of the pneumatic servo control system. The maximum fluctuation error is 6.96 N, which is within the permitted error range. The welding experiments were carried out to verify effectiveness of the control system and the welding clamp. The field results have shown that the maximum inward shrinkage deformation after welding is 0.6 mm, which is less than 1.2 mm required by the MIG welding process.

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Haghshenas-Jaryani, Mahdi. "Dynamics and Computed-Muscle-Force Control of a Planar Muscle-Driven Snake Robot." Actuators 11, no. 7 (July 16, 2022): 194. http://dx.doi.org/10.3390/act11070194.

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This paper presents the dynamic formulation of an artificial-muscle-driven and computed-muscle–force control for the planar locomotion of a snake robot. The snake robot uses a series of antagonistic pneumatic artificial muscles, assembled at the joints, to generate the locomotion. Kinematics of the artificial-muscle-driven robot in the joint and Cartesian spaces was derived with respect to the muscles’ motion. The Lagrangian mechanics was employed for the formulation of the dynamic model of the robot and deriving the equations of motion. A model-based computed-muscle-force control was designed to track the desired paths/trajectories in Cartesian space. The feedback linearization method based on a change of coordinate was utilized to determine an equivalent linear (input-to-state) system. Then, a full state feedback control law was designed, which satisfies the stability and tracking problems. The performance of the dynamic model and the controller were successfully demonstrated in simulation studies for tracking a circle-shape path and a square-shape path with a constant linear velocity while generating the lateral undulation gait. The results indicate a low magnitude of tracking errors where the controlled muscle force are bounded to the actual pneumatic artificial muscle’s limitations.

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Tani, Giovanni, Raffaele Bedini, Alessandro Fortunato, and Claudio Mantega. "Dynamic Hybrid Modeling of the Vertical Z Axis in a High-Speed Machining Center: Towards Virtual Machining." Journal of Manufacturing Science and Engineering 129, no. 4 (February 13, 2007): 780–88. http://dx.doi.org/10.1115/1.2738097.

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This paper describes the modeling and simulation of the Z axis of a five axis machining center for high-speed milling. The axis consists of a mechanical structure: machine head and electro-mandrel, a CNC system interfaced with the feed drive, and a pneumatic system to compensate for the weight of the vertical machine head. These subsystems were studied and modeled by means of: (1) finite element method modeling of the mechanical structure; (2) a concentrated parameter model of the kinematics of the axis; (3) a set of algebraic and logical relations to represent the loop CNC-Z feed drive; (4) an equation set to represent the functioning of the pneumatic system; and (5) a specific analytical model of the friction phenomena occurring between sliding and rotating mechanical components. These modeled subsystems were integrated to represent the dynamic behavior of the entire Z axis. The model was translated in a computer simulation package and the validation of the model was made possible by comparing the outputs of simulation runs with the records of experimental tests on the machining center. The firm which promoted and financed the research now has a virtual tool to design improved machine-tool versions with respect to present models, designed by traditional tools.

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Zhang, Yeming, Ke Li, Geng Wang, Jingcheng Liu, and Maolin Cai. "Nonlinear Model Establishment and Experimental Verification of a Pneumatic Rotary Actuator Position Servo System." Energies 12, no. 6 (March 21, 2019): 1096. http://dx.doi.org/10.3390/en12061096.

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In order to accurately reflect the characteristics and motion states of a pneumatic rotary actuator position servo system, an accurate non-linear model of the valve-controlled actuator system is proposed, and its parameter identification and experimental verification are carried out. Firstly, in the modeling of this system, the mass flow rate of the gas flowing through each port of the proportional directional control valve is derived by taking into account the clearance between the valve spool and the sleeve, the heat transfer formula is used to the derivation of the energy equation, and the Stribeck model is applied to the friction model of the pneumatic rotary actuator. Then, the flow coefficient, the heat transfer coefficient and the friction parameters are identified by the model and pneumatic test circuits. After the verification experiment of the mass flow rate equations, the charging and discharging experiment reveals that the model can clearly show the effect of clearances on gas pressure changes and describe the effect of heat transfer on gas temperature changes. Finally, the results of model verification indicate that the simulation curves of rotation angle and two-chamber pressures are consistent with their experimental values, and the non-linear model shows high accuracy.

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37

Sun, Jiteng, Chang Chen, Long Wang, Yuandong Liang, Guojin Chen, Ming Xu, Ruru Xi, and Huifeng Shao. "Design and Simulation Experiment of Rigid-Flexible Soft Humanoid Finger." Machines 10, no. 6 (June 6, 2022): 448. http://dx.doi.org/10.3390/machines10060448.

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This paper is based on the “Fast Pneumatic Mesh Driver” (FPN) used to couple a silicone rubber soft body with a rigid skeleton. A rigid-flexible coupling soft-body human-like finger design scheme is proposed to solve the problem of low load on the soft-body gripping hand. The second-order Yeoh model is used to establish the statics model of the soft humanoid finger, and the ABAQUS simulation analysis software is used for correction and comparison to verify the feasibility of the soft humanoid finger bending. The thickness of the driver cavity and the confining strain layer were determined by finite element simulation. The mold casting process is used to complete the preparation of human-like fingers and design a pneumatic control system for experiments combined with 3D printing technology. The experimental results show that the proposed rigid-flexible coupling soft body imitating the human finger structure can realize the corresponding actions, such as the multi-joint bending and side swinging, of human fingers. Compared with the traditional pure soft-body finger, the fingertip output force is significantly improved. The optimal design and simulation analysis of the human gripper and the feasibility of the application have practical guiding significance.

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38

Sun, Jiteng, Chang Chen, Long Wang, Yuandong Liang, Guojin Chen, Ming Xu, Ruru Xi, and Huifeng Shao. "Design and Simulation Experiment of Rigid-Flexible Soft Humanoid Finger." Machines 10, no. 6 (June 6, 2022): 448. http://dx.doi.org/10.3390/machines10060448.

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This paper is based on the “Fast Pneumatic Mesh Driver” (FPN) used to couple a silicone rubber soft body with a rigid skeleton. A rigid-flexible coupling soft-body human-like finger design scheme is proposed to solve the problem of low load on the soft-body gripping hand. The second-order Yeoh model is used to establish the statics model of the soft humanoid finger, and the ABAQUS simulation analysis software is used for correction and comparison to verify the feasibility of the soft humanoid finger bending. The thickness of the driver cavity and the confining strain layer were determined by finite element simulation. The mold casting process is used to complete the preparation of human-like fingers and design a pneumatic control system for experiments combined with 3D printing technology. The experimental results show that the proposed rigid-flexible coupling soft body imitating the human finger structure can realize the corresponding actions, such as the multi-joint bending and side swinging, of human fingers. Compared with the traditional pure soft-body finger, the fingertip output force is significantly improved. The optimal design and simulation analysis of the human gripper and the feasibility of the application have practical guiding significance.

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39

Krichel, Susanne V., and Oliver Sawodny. "Non-linear friction modelling and simulation of long pneumatic transmission lines." Mathematical and Computer Modelling of Dynamical Systems 20, no. 1 (June 25, 2013): 23–44. http://dx.doi.org/10.1080/13873954.2013.811268.

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40

Xie, Hualong, Zhijie Li, and Fei Li. "Bionics Design of Artificial Leg and Experimental Modeling Research of Pneumatic Artificial Muscles." Journal of Robotics 2020 (February 28, 2020): 1–11. http://dx.doi.org/10.1155/2020/3481056.

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In the research and development of intelligent prosthesis, some of performance test experiments are required. In order to provide an ideal experimental platform for the performance test of intelligent prosthesis, a heterogeneous biped walking robot model is proposed. Artificial leg is an important part of heterogeneous biped walking robot, and its main function is to simulate the disabled a healthy normal gait, which provides intelligent bionic legs gait to follow the target trajectory. The pneumatic artificial muscles (PAM) have good application in the artificial leg. The bionic design of artificial leg mainly includes the structure of hip joint, knee joint, and ankle joint, adopting the four-bar mechanism as the mechanical structure of the knee joint, and PAM are used as the driving source of the knee joint. Secondly, the PAM performance test platform is built to establish the relationship among output force, shrinkage rate, and input pressure under the measured isobaric conditions, and the mathematical model of PAM is established. Finally, the virtual prototype technology is used to build a joint simulation platform, and PID control algorithm is used for verification simulation. The results show that the artificial leg can follow the target trajectory.

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41

Su, Xueman, Yueyue Xie, Lili Sun, and Benchi Jiang. "Constant Force Control of Centrifugal Pump Housing Robot Grinding Based on Pneumatic Servo System." Applied Sciences 12, no. 19 (September 27, 2022): 9708. http://dx.doi.org/10.3390/app12199708.

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In order to solve the problem of constant force control in the robot grinding process of a centrifugal pump housing a circular inner surface, this study used the force–position hybrid control mode based on a pneumatic servo system to realize the constant control of grinding force. In this process, the manipulator realizes the position and pose control of the end grinding device, and the end grinding device realizes the constant force control in the grinding process. The mathematical model of the pneumatic system is established and linearized by using the gas balance state equation, the adiabatic equation of the isentropic process, and the Sanville flow equation. The balance equation of the cylinder piston was established by using Newton’s second law, the transfer function of the contact force between the grinding device and workpiece was obtained, and the stability of the pneumatic control system was determined by the Hurwitz criterion. The PID algorithm was used to improve the displacement response speed of the system and eliminate the impact and oscillation in the force response. The feasibility, stability, and robustness of the system were verified by simulation experiments. This method has the advantages of simple control, a small amount of calculation, and a fast response, as well as providing a feasible scheme for the popularization and application of robot grinding technology.

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42

Zhu, Jianxu, Dingxuan Zhao, Shuang Liu, Zilong Zhang, Guangyu Liu, and Jinming Chang. "Integrated Control of Spray System and Active Suspension Systems Based on Model-Assisted Active Disturbance Rejection Control Algorithm." Mathematics 10, no. 18 (September 19, 2022): 3391. http://dx.doi.org/10.3390/math10183391.

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Due to the lack of body stability of emergency rescue vehicles, their attitude stability is insufficient and they are unable to realize working while driving, resulting in low rescue efficiency. Aiming at the water tower fire truck, which is equipped with an active suspension system, the vehicle attitude stability is studied. First, combined with the active suspension system and spray system, a 13-DOF integrated dynamic model for the water tower fire truck is established. Using the model-assisted active disturbance rejection control method, the controllers are designed for the vertical displacement, pitch angle, and roll angle of the vehicle attitude. Then, the computer simulation is carried out to verify the effectiveness of this control method. Finally, the water spray obstacle crossing experiment is carried out with a JP32G water tower fire truck. The results show that when the vehicle runs over the triangular obstacle on one side and two sides in the integrated spray-active suspension mode, the peak–peak values of body pitch angle and roll angle are reduced by 10.9% and 23.2%, and 23.7% and 16.3%, respectively, compared with the passive hydro pneumatic suspension.

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43

Margolis, D. L., and W. C. Yang. "Bond Graph Models for Fluid Networks Using Modal Approximation." Journal of Dynamic Systems, Measurement, and Control 107, no. 3 (September 1, 1985): 169–75. http://dx.doi.org/10.1115/1.3140716.

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Modal bond graph representations of the dissipative model of rigid, cylindrical fluid transmission lines with laminar flow are developed. Modal approximation techniques are used for both hydraulic and pneumatic lines. The modeling and simulation procedures for fluid networks coupled with nonlinear and dynamic systems are greatly facilitated using bond graphs. The physical interpretation of the model is preserved in this approach. Simulation results for hydraulic single lines are compared with results derived by the quasi-method of characteristics. The simulation results for fluid networds for various line and termination configurations are illustrated.

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44

Kunt, Cengiz, and Rajendra Singh. "Application of Floquet Theory to On-Off Valve Controlled Pneumatic Actuators." Journal of Dynamic Systems, Measurement, and Control 114, no. 2 (June 1, 1992): 299–305. http://dx.doi.org/10.1115/1.2896528.

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A periodic linear time varying (LTV) model for on-off valve controlled pneumatic actuation systems, was described in an earlier paper by the authors. Based on this LTV model formulation, Floquet’s Theorem is invoked to characterize dynamic response of the system. A new computational technique called the expanded state space method is developed to calculate the frequency response of the LTV system with staircase coefficient variations. This technique is computationally superior to the straightforward solution scheme. Floquet Theory is also used to assess the nature of transient response. A single acting cylinder system controlled by an on-off valve is considered to illustrate the stability and transient response issues. Computer simulation based on the nonlinear model is used to obtain detailed results. It is shown that application of the Floquet Theory provides valuable insight into the dynamic response of the class of actuators considered.

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45

Mayer, Annika, Daniel Müller, Adrian Raisch, and Oliver Sawodny. "Model-predictive reference trajectory planning for redundant pneumatic collaborative robots." at - Automatisierungstechnik 68, no. 5 (May 27, 2020): 360–74. http://dx.doi.org/10.1515/auto-2019-0127.

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AbstractCollaborative robots have the potential to simplify the working day of the future. The goal in the development of these robots is to assist human operators by handling all sorts of tasks. A common underlying problem is to move the robot’s tool center point in a desired way. In this work we consider the generation of a feasible trajectory in joint space given a reference in task space. This is done at the example of the Bionic Handling Assistant (BHA), a compliant, redundant and pneumatically driven continuum robot. The trajectory for the BHA is obtained using a model control loop (MCL) which internally realizes a nonlinear model predictive controller (NMPC). We simplify the high dimensional and nonlinear model of the BHA to a computational efficient model which still covers the major effects of the original dynamics. This results not only in a feasible trajectory but also enables the model control loop to be real-time applicable. The proposed method is validated in simulation.

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46

Zolfagharian, Ali, M. A. Parvez Mahmud, Saleh Gharaie, Mahdi Bodaghi, Abbas Z. Kouzani, and Akif Kaynak. "3D/4D-printed bending-type soft pneumatic actuators: fabrication, modelling, and control." Virtual and Physical Prototyping 15, no. 4 (August 3, 2020): 373–402. http://dx.doi.org/10.1080/17452759.2020.1795209.

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47

Amponsah-Abu, E. O., B. J. B. Nyarko, and R. Edziah. "Design and Construction of Pneumatic Transfer System Controller Unit for Ghana MNSR." Journal of Control Science and Engineering 2019 (August 1, 2019): 1–15. http://dx.doi.org/10.1155/2019/6450987.

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Pneumatic Transfer System (PTS) is an auxiliary system of Ghana Research Reactor-1 (GHARR-1) used to transfer sample capsule in and out of the reactor irradiation sites. The PTS’ controller unit design and construction were carried out because the original transfer system was not designed to operate in cyclic NAA. To address these situations, a Programmable Logic Controller (PLC) has been used to design and construct a control unit to facilitate a cyclic neutron activation analysis (CNAA) application for GHARR-1. The design has been simulated successfully using a LOGO Soft Comfort software, version 8. The constructed control unit has been tested experimentally using 220 AC volts electric bulbs to represent solenoid valves. The results show that the sample-IN and sample-OUT bulbs come ON and go OFF to represent the solenoid valves opening and closing for sample transfer. The study has shown that the computer based PLC controller unit for PTS is capable of facilitating both cyclic and conventional NAA application for the GHARR-1.

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48

Collins, R. L., G. Prater, and W. P. Hnat. "Modeling and Analysis of a Small Diameter Pneumatic Boring Tool." Journal of Dynamic Systems, Measurement, and Control 120, no. 2 (June 1, 1998): 292–98. http://dx.doi.org/10.1115/1.2802423.

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This paper documents the development, solution, and application of a computational model for the dynamic response of a small diameter, pneumatic tool used for boring horizontal tunnels in the soil. The model consists of (i) the tool component kinematics and kinetics, (ii) mechanics of the tool and soil interactions, (iii) the compressible air dynamics, and (iv) the pressure control valve switching logic. The resulting model is represented by a set of coupled, sixth-order nonlinear differential equations. The boring tool design has several unique features, including dual pistonheads and a pilot-pressure actuated spool valve used to control the oscillatory piston. Implementation of these and other tool features in the computational model is discussed at length. The dynamic simulation and associated parametric studies establish the feasibility of the design for small diameter (25.4 mm) horizontal boring tools. Results for this design predict tunneling rates of about 60 meters/hr in a medium clay soil.

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Anguiano-Gijón, Carlos Alberto, Anibal Cid-Gaona, José Manuel Chávez-Delgado, and Carlos Renato Vázquez. "On the Design of Regulation Controllers for Automation Systems with RCPetri." Applied Sciences 12, no. 7 (March 24, 2022): 3294. http://dx.doi.org/10.3390/app12073294.

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Regulation control for Petri nets is a control framework that allows the design of sequence controllers for automation systems in a systematic and efficient way. In order to implement this control framework, the MATLAB® app RCPetri has been developed. In this work, the RCPetri tool functionalities are described, including model generation, automatic specification generation, automatic control design, model and control simulation, automatic translation to PLC code, and communication by Modbus TCP/IP and OPC UA. Furthermore, three examples are presented to illustrate the application of the tool and the regulation framework: an electro-pneumatic device, a process control system, and a robotic manufacturing cell under a decentralized control scheme.

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Humaidi, Amjad J., Ibraheem Kasim Ibraheem, Ahmad Taher Azar, and Musaab E. Sadiq. "A New Adaptive Synergetic Control Design for Single Link Robot Arm Actuated by Pneumatic Muscles." Entropy 22, no. 7 (June 30, 2020): 723. http://dx.doi.org/10.3390/e22070723.

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This paper suggests a new control design based on the concept of Synergetic Control theory for controlling a one-link robot arm actuated by Pneumatic artificial muscles (PAMs) in opposing bicep/tricep positions. The synergetic control design is first established based on known system parameters. However, in real PAM-actuated systems, the uncertainties are inherited features in their parameters and hence an adaptive synergetic control algorithm is proposed and synthesized for a PAM-actuated robot arm subjected to perturbation in its parameters. The adaptive synergetic laws are developed to estimate the uncertainties and to guarantee the asymptotic stability of the adaptive synergetic controlled PAM-actuated system. The work has also presented an improvement in the performance of proposed synergetic controllers (classical and adaptive) by applying a modern optimization technique based on Particle Swarm Optimization (PSO) to tune their design parameters towards optimal dynamic performance. The effectiveness of the proposed classical and adaptive synergetic controllers has been verified via computer simulation and it has been shown that the adaptive controller could cope with uncertainties and keep the controlled system stable. The proposed optimal Adaptive Synergetic Controller (ASC) has been validated with a previous adaptive controller with the same robot structure and actuation, and it has been shown that the optimal ASC outperforms its opponent in terms of tracking speed and error.

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Journal articles on the topic 'Pneumatic control Computer simulation'

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