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1
Li, Wen, and Hong Min Li. "A Pneumatic Miniature Robotic Control System Based on Improved Single Neural Network PID Control." Applied Mechanics and Materials 347-350 (August 2013): 733–38. http://dx.doi.org/10.4028/www.scientific.net/amm.347-350.733.
Повний текст джерелаАнотація:
At present pneumatic miniature robotic control system usually adopts PID control strategy. The basic PID control strategy has its limitations. To cope with this problem, a lot of methods to optimize this strategy have been researched. In the paper an improved single neural network PID control strategy is put forward. The control strategy is a single neuron adaptive controller with adjusting weighting coefficient. Both simulation and experimental results indicate that this scheme is a feasible control method for the 3-dof pneumatic miniature robotic control system.
2
Yao, Ning. "Control of Speed Analysis of Pneumatic Servo Manipulator." Applied Mechanics and Materials 473 (December 2013): 255–58. http://dx.doi.org/10.4028/www.scientific.net/amm.473.255.
Повний текст джерелаАнотація:
This paper established a mathematical model of the Pneumatic manipulator speed servo system, and its simulation is passed by Simulink. Through the analysis of systems performance,the PID correction methods of the system is improved. The stability of the system is increased greatly after the PID correction. In the end, the improved method is pointed out.
3
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.
Повний текст джерелаАнотація:
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.
4
Blasiak, Slawomir, Pawel Andrzej Laski, and Jakub Emanuel Takosoglu. "Rapid Prototyping of Pneumatic Directional Control Valves." Polymers 13, no. 9 (April 30, 2021): 1458. http://dx.doi.org/10.3390/polym13091458.
Повний текст джерелаАнотація:
The main objective of the study was to design a pneumatic directional control valve for controlling pneumatic drives and produce it using a rapid prototyping technique. As the basic design assumption was to achieve high performance through a high flow rate and a low pressure drop, it was necessary to determine two flow parameters: the sonic conductance and the critical pressure ratio. The flow rate of compressed air and the diameters of the pneumatic conduits and fittings are important as they affect the rate of travel of the pneumatic cylinder piston. The 3D solid model of the directional control valve, developed in a CAD program, was used to simulate and optimize the flow rate. The analysis was performed by means of ANSYS CFX, a computational flow dynamics program. The main elements of the valve, i.e., the spool and the body, were produced using the PolyJet Matrix technology. The prototype was tested experimentally to determine the nominal flow-rate, calculate the flow parameters in accordance with the ISO 6358-1989 standard and compare them with the CFD simulation data. The simulation results showed very good agreement with the measurement data. The CFD analysis of the 3D solid model enabled us to optimize the flow of compressed air through the valve. The rapid prototyping method was found to be suitable to produce a fully functional directional control valve, which was confirmed through measurements at a test stand. The attempt to combine rapid prototyping used to fabricate pneumatic directional control valves with CFD used to simulate their operation was successful. The study shows that it is possible to design and construct a fully functional directional control valve characterized by high efficiency, high performance and a small pressure loss in a very short time and at a very low cost, which makes rapid prototyping superior to conventional methods of prototype making.
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Elobaid, Youssif Mohamed Toum, Jain Huang, and Yongji Wang. "Nonlinear Disturbance Observer Based Robust Tracking Control of Pneumatic Muscle." Mathematical Problems in Engineering 2014 (2014): 1–8. http://dx.doi.org/10.1155/2014/872093.
Повний текст джерелаАнотація:
Presently pneumatic muscles (PMs) are used in various applications due to their simple construction, lightweight, and high force-to-weight ratio. However, pneumatic muscles are facing various problems due to their nonlinear characteristics and various uncertainties in real applications. To cope with the uncertainties and strong nonlinearity of a PM model, a nonlinear disturbance observer (NDO) is designed to estimate the lumped disturbance. Based on the disturbance observer, the tracking control of PM is studied. Stability analysis based on Lyapunov method with respect to our proposed control law is discussed. The simulation results show the validity, effectiveness, and enhancing robustness of the proposed methods.
6
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.
Повний текст джерелаАнотація:
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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Arden, W. J. B., and C. S. Cox. "Remote Boundary Pressure Control." Measurement and Control 20, no. 9 (November 1987): 56–60. http://dx.doi.org/10.1177/002029408702000903.
Повний текст джерелаАнотація:
In recent years the emphasis within British Gas PLC has moved from the construction aspects of the natural gas transmission system, to one of investigating methods of optimising the operational efficiency of the existing pipline network. In particular, the developments which have taken place in the area of microprocessor technology have provided the opportunity to implement improved control strategies in areas where existing pneumatic based systems are somewhat limited in terms of performance. This paper describes a problem associated with the control of pressure, at a remote point, which can be a considerable distance downstream from the main pressure regulating station. In addition, it illustrates how a series of simulation studies have enabled the evaluation of the revised control philosophy, quickly, efficiently and at minimal cost. This paper is based on previously published work entitled ‘Investigations into the Remote Pressure Control of Gas Transmission Pipelines’, by C S Cox, W J B Arden and I Fletcher. Presented at Int AMSE Conf ‘Modelling and Simulation’, Sorrento (Italy) Sept 29th-Oct 1st, 1986.
8
Najjari, Behrouz, Mohammad J. Fotuhi, and Mousa Vaezipour. "Theoretical and Empirical Improvement of a Fast-Switching Electro-Pneumatic Valve by Using Different Methods." Acta Mechanica et Automatica 16, no. 2 (March 16, 2022): 91–97. http://dx.doi.org/10.2478/ama-2022-0011.
Повний текст джерелаАнотація:
Abstract In this paper, a non-linear model of a 2–2 way, on–off fast-switching valve is used. The model includes subsystems of electrical, magnetic, mechanical and fluid. Pulse width modulation (PWM) technique is adopted to energise the on–off solenoid valve and allow the air to flow towards the actuator. Since the non-linear behaviour of valve is of great importance, to reduce the delay in performance of switching valves, different approaches are proposed. Furthermore, hysteresis, proportional integrator (PI), optimal model predictive and fuzzy logic controller (FLC) are used and compared. Also, to improve the valve behaviour, an empirical setup based on AVR microcontroller with FLC is implemented. Empirical and simulation results indicate that all proposed control methods have superior performance. However, the fuzzy method is easy to implement in practice.
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Baranowski, Leszek, and Michał Siwek. "Use of 3D Simulation to Design Theoretical and Real Pipe Inspection Mobile Robot Model." Acta Mechanica et Automatica 12, no. 3 (September 1, 2018): 232–36. http://dx.doi.org/10.2478/ama-2018-0036.
Повний текст джерелаАнотація:
Abstract The main aim of the paper is to present the process of design pipe inspection mobile robot by using 3D simulations. Next methods and processes of making designed components was described. Finally, functional tests of a constructed real robot model such as speed tests, inclined pipe test was carried out. The robot was specifically designed to inspect sewer pipelines. The mobile robot is equipped with a vision system. The structure of the pipe inspection robot allows adjustments to the geometrical parameters of the robot to suit the sewer pipes diameters by using in the construction of a pneumatic system with an actuator.
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Szczepaniak, Paweł, Michał Jóźko, and Jakub Włodarczyk. "The Concept of a Pneumatic Parachute Rescue System for Vertical Take-Off and Landing UAVs." Journal of KONBiN 49, no. 2 (June 1, 2019): 79–100. http://dx.doi.org/10.2478/jok-2019-0026.
Повний текст джерелаАнотація:
Abstract This publication addresses the proposed structural solution for a system, of which the conceptual essence involves a rescue parachute being ejected from an accumulator using compressed carbon dioxide. The suggested rescue system is intended for unmanned multicopter aircraft. The article presents a developed digital solid model and the results of its simulation tests. The paper also contains results of basic calculations of the pneumatic supply system energy balance and the power balance of the electric control system. It also presents the results of first in-flight tests with a simulated emergency situation and the use of a technology demonstrator in operating conditions. Simulational and experimental methods were chosen to solve the research problem.
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Karnjanaparichat, Tarapong, and Radom Pongvuthithum. "Adaptive tracking control of multi-link robots actuated by pneumatic muscles with additive disturbances." Robotica 35, no. 11 (October 26, 2016): 2139–56. http://dx.doi.org/10.1017/s0263574716000758.
Повний текст джерелаАнотація:
SUMMARYIn this paper, we study the problem of adaptive position tracking for a multi-link robot driven by two opposing pneumatic muscle groups with additive disturbances. In contrast to widely used sliding mode control methods, the proposed controller is continuous and able to prevent chattering. All physical parameters of the robot and the pneumatic muscles, including pneumatic muscle coefficients, link lengths and moments of inertia are unknown and can be time-varying and the unknown additive disturbances can be discontinuous. Under these conditions, we prove that closed-loop trajectories of all of the joint positions can track any C1 joint reference signal. The joint errors will be within a prescribed error bound in a finite time. The adaptive controller only uses the reference signal, not its derivative. The continuous adaptive gain is one-dimensional. Simulations including a two-link robot arm with friction and realistic muscle models are presented to demonstrate the robustness of the adaptive control under severe changes of the system parameters. In all simulations, the joint positions can track C1 trajectories and all errors are within the prescribed error bound in the same time frame, even though the muscle parameters are vastly different.
12
Wang, Ning, Yu Zhang, Guofeng Zhang, Wenchuan Zhao, and Linghui Peng. "Development and Analysis of Key Components of a Multi Motion Mode Soft-Bodied Pipe Robot." Actuators 11, no. 5 (April 29, 2022): 125. http://dx.doi.org/10.3390/act11050125.
Повний текст джерелаАнотація:
In order to enhance the environmental adaptability of peristaltic soft-bodied pipe robots, based on the nonlinear and hyperelastic characteristics of silicone rubber combined with the biological structure and motion characteristics of worms, a hexagonal prism soft-bodied bionic actuator is proposed. The actuator adopts different inflation patterns to produce different deformations, so that the soft-bodied robot can realize different motion modes in the pipeline. Based on the Yeoh binomial parameter silicone rubber constitutive model, the deformation analysis model of the hexagonal prism soft-bodied bionic actuator is established, and the numerical simulation algorithm is used to ensure both that the drive structure and deformation mode are reasonable, and that the deformation analysis theoretical model is accurate. The motion and dynamic characteristics of the prepared hexagonal prism soft-bodied bionic actuator are tested and analyzed, the motion and dynamic characteristic curves of the actuator are obtained, and the empirical deformation formula of the actuator is fitted. The experimental results are consistent with the deformation analysis model and numerical simulation result, which shows that the deformation analysis model and numerical simulation method are accurate and can provide design methods and reference basis for the development of a pneumatic soft-bodied body bionic actuator. The above research results can also prove that the hexagonal prism soft-bodied bionic actuator is reasonable and feasible.
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Chen, Bao Jiang, Tian Zi Ge, and Jian Zhi Wang. "A Study on the Key Technologies of a Kind of Automatic Packaging System." Applied Mechanics and Materials 548-549 (April 2014): 963–67. http://dx.doi.org/10.4028/www.scientific.net/amm.548-549.963.
Повний текст джерелаАнотація:
In order to improve the productivity of the filing form materials continuously and automatically packaged line, the control methods for the manipulator and the mechanism which has the capacity of weight self-measuring and auto–filling to the packaged material were studied. The manipulator is a pneumatic control system, it is consists of three pneumatic cylinder circuits to implement the horizontal movements, vertical movements and the activities of picking up or putting down the materials on line. The material to be picked up by manipulator was weighed and displayed by a single chip microcomputer. The general control function of the system was carried out by a PLC unit. The structure changeable type of simulating human being intelligence control methods resulting in the real observing at the objective changes were studied and implemented to achieve the plant high in positioning accuracy and fast in response speed. The experiments were realized and the results showed that the working period time is less than 5.8s,the weight variation measured by single chip microcomputer is not more than 2 grams in 300 grams.
14
Zhang, Xiang, Yonghua Lu, Yang Li, Chi Zhang, and Rui Wang. "Numerical calculation and experimental study on response characteristics of pneumatic solenoid valves." Measurement and Control 52, no. 9-10 (October 10, 2019): 1382–93. http://dx.doi.org/10.1177/0020294019866853.
Повний текст джерелаАнотація:
In order to analyze the response characteristics of the solenoid valve in depth, the flow field of the solenoid valve is analyzed by means of the computational fluid dynamics, and the aerodynamic parameters that are difficult to be obtained by the traditional methods are obtained with software FLUENT. We also set up the mathematical model of the solenoid valve, including the aerodynamic model, the circuit model, the magnetic circuit model and the mechanical motion model. The calculation is completed in the Simulink, and the results of the calculation are analyzed. A set of the solenoid valve response characteristic test system is built, and the response characteristic parameters such as response time and maximum action frequency of the solenoid valve are tested. The experimental results are verified by comparing them with the simulation results. The final result shows that the response characteristics are basically irrelevant to the action frequency at a suitable working frequency. The open switching time of the solenoid valve decreases with the increase in the inlet pressure and the driving voltage and increases with the increase in the number of coil turns. The close switching time increases with the increase in the inlet pressure, the driving voltage and the number of coil turns.
15
Korendiy, V. M., O. Yо Kotsiumbas, and O. V. Lanets. "Analysis of technical and operational characteristics of turning-and-shunting door opening mechanism of electric public transport." Scientific Bulletin of UNFU 29, no. 3 (April 25, 2019): 89–95. http://dx.doi.org/10.15421/40290319.
Повний текст джерелаАнотація:
One of the most important problems occurring while designing public transport vehicles consists in providing an effective control of the door opening systems. The methods of carrying out the investigations presented in the paper include structural and kinematic analysis of the door opening mechanisms and simulation of their operation in applied software. The paper analyses the design and operational peculiarities of the turning-and-shunting mechanism of door opening of electric public transport. The corresponding design of the mechanism is proposed. It is suggested to be driven by pneumatic drive. The simplified diagram of the mechanism is constructed. Structural and kinematic analysis of the mechanism is performed, and the analytical dependencies for describing the motion of its links during the door opening/closing are derived. The main kinematic parameters of the studied mechanism are investigated on the basis of the derived analytical dependencies in MathCAD software, as well as by means of simulating the motion of the solid-state model of the mechanism designed in SolidWorks software. The conclusions about the agreement of the results of theoretical investigations performed on the basis of numerical solving the obtained motion equations and of the virtual experiment (motion simulation in SolidWorks software) are drawn. The analysis of energy efficiency of the investigated turning-and-shunting door opening mechanism of electric public transport is carried out. Prescribing the resistance force acting on the door leaf and calculating the corresponding door motion speed during its closing, the dependency of the nominal power supply of the mechanism drive as a function of corresponding generalized coordinates was deduced. Analyzing the obtained results, the authors have established that the necessary nominal power of the turning-and-shunting mechanism drive is almost twice larger than the necessary nominal power of the widely used leaning-and-shunting mechanism. Further investigations on the subject of the paper can be performed in the direction of developing different control systems providing safe and reliable operation of the considered door opening mechanism driven be electric and pneumatic actuators.
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Alyukov, Alexander, Yuri Rozhdestvenskiy, and Sergei Aliukov. "Active Shock Absorber Control Based on Time-Delay Neural Network." Energies 13, no. 5 (March 2, 2020): 1091. http://dx.doi.org/10.3390/en13051091.
Повний текст джерелаАнотація:
A controlled suspension usually consists of a high-level and a low-level controller. The purpose the high-level controller is to analyze external data on vehicle conditions and make decisions on the required value of the force on the shock absorber rod, while the purpose of the low-level controller is to ensure the implementation of the desired force value by controlling the actuators. Many works have focused on the design of high-level controllers of active suspensions, in which it is considered that the shock absorber can instantly and absolutely accurately implement a given control input. However, active shock absorbers are complex systems that have hysteresis. In addition, electro-pneumatic and hydraulic elements are often used in the design, which have a long response time and often low accuracy. The application of methods of control theory in such systems is often difficult due to the complexity of constructing their mathematical models. In this article, the authors propose an effective low-level controller for an active shock absorber based on a time-delay neural network. Neural networks in this case show good learning ability. The low-level controller is implemented in a simplified suspension model and the simulation results are presented for a number of typical cases.
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Tiziani, Lucas, Alexander Hart, Thomas Cahoon, Faye Wu, H. Harry Asada, and Frank L. Hammond. "Empirical characterization of modular variable stiffness inflatable structures for supernumerary grasp-assist devices." International Journal of Robotics Research 36, no. 13-14 (July 2, 2017): 1391–413. http://dx.doi.org/10.1177/0278364917714062.
Повний текст джерелаАнотація:
This paper presents the design, fabrication, and experimental characterization of modular, variable stiffness inflatable components for pneumatically actuated supernumerary robotic (SR) grasp-assist devices. The proposed SR grasp-assist devices are comprised of soft rigidizable finger phalanges and variable stiffness pneumatic bending actuators that are manufactured using soft lithography fabrication methods. The mechanical and kinematic properties of these modular, inflatable components are characterized experimentally under various loading conditions and over a range of geometric design parameters. The resulting data-driven properties are then used to predict the grasp strengths and motion patterns of SR grasp-assist device configurations designed to accommodate the manipulation of daily living objects. Experimental results demonstrate the ability to program grasp synergies into SR fingers by strategic inflation of the bending actuator antagonist chambers (varying mechanical stiffness), without the need for complicated, high-power mechanisms or precise, low-level motion control. The results also demonstrate the underactuated grasp adaptations enabled by modular inflatable components and the ability to predict mechanical grasping capabilities of wearable pneumatic SR grasp-assist devices using insights from empirical data.
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Luong, Quoc Viet, Dae-Sung Jang, and Jai-Hyuk Hwang. "Intelligent Control Based on a Neural Network for Aircraft Landing Gear with a Magnetorheological Damper in Different Landing Scenarios." Applied Sciences 10, no. 17 (August 28, 2020): 5962. http://dx.doi.org/10.3390/app10175962.
Повний текст джерелаАнотація:
A typical oleo-pneumatic shock-absorbing strut (classic traditional passive damper) in aircraft landing gear has a metering pin extending through the orifice, which can vary the orifice area with the compression and extension of the damper strut. Because the metering pin is designed in a single landing condition, the traditional passive damper cannot adjust its damping force in multiple landing conditions. Magnetorheological (MR) dampers have been receiving significant attention as an alternative to traditional passive dampers. An MR damper, which is a typical semi-active suspension system, can control the damping force created by MR fluid under the magnetic field. Thus, it can be controlled by electric current. This paper adopts a neural network controller trained by two different methods, which are genetic algorithm and policy gradient estimation, for aircraft landing gear with an MR damper that considers different landing scenarios. The controller learns from a large number of trials, and accordingly, the main advantage is that it runs autonomously without requiring system knowledge. Moreover, comparative numerical simulations are executed with a passive damper and adaptive hybrid controller under various aircraft masses and sink speeds for verifying the effectiveness of the proposed controller. The main simulation results show that the proposed controller exhibits comparable performance to the adaptive hybrid controller without any needs for the online estimation of landing conditions.
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Nankyo, Masanobu, Tadashi Ishihara, and Hikaru Inooka. "Feedback Control of Braking Deceleration on Railway Vehicle." Journal of Dynamic Systems, Measurement, and Control 128, no. 2 (April 16, 2005): 244–50. http://dx.doi.org/10.1115/1.2192825.
Повний текст джерелаАнотація:
An increase of the deceleration in high-speed and high-density train operations degrades riding comfort and frequently causes wheel skids. This requires an introduction of the control technology to upgrade the control performance of brake systems on railway vehicles. We are now studying control methods for a mechanical brake that uses friction and pneumatic pressure, including nonlinear elements as the basis of a brake force. Furthermore, the system itself has certain “dead time,” which is not negligible and makes control difficult. One of our targets is to develop a brake control device that can control the deceleration in accordance with a decelerating pattern that optimizes the riding comfort of trains and prevents wheel skids. In this paper, a design method of the controller for the deceleration tracking control and the system compensating the dead time are proposed. Finally, the effects of them are confirmed through computer simulations and experimental results on a dynamo test stand.
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Nogmov, Mukhamed K., Ibragim M. Lianov, Viktor R. Lysenko, and Natalia V. Dmitrichenko. "Development of a Flow-Measuring Hydropneumatic Bench for Testing Pipeline Valves." Civil Engineering Journal 9, no. 1 (January 1, 2023): 166–82. http://dx.doi.org/10.28991/cej-2023-09-01-013.
Повний текст джерелаАнотація:
Pipe fittings are an important element of any pipeline network, ensuring stable and safe operation by regulating the flow of the working medium. To control the performance of pipeline valves, it is necessary to conduct various tests, the main ones of which are hydraulic and pneumatic. It is important to expand testing capabilities and reduce time costs. The purpose of this work is to combine hydraulic and pneumatic tests into one test complex, which will reduce the time of the test complex due to the absence of the need for reinstallation and reconfiguration. The subject of the study is the determination of the design, technical, and operational characteristics of such a stand, as well as the simulation of operating conditions to confirm its operability. During the development, methods of solid and surface modeling, the finite element method, and analytical calculation methods were used. The results of the stand design are presented, and the features of the process of its development are described, including the analysis of the stress-strain state and the analysis of reliability and durability indicators. The obtained values of the distribution of equivalent stresses, deformations, and displacements of the structure elements do not exceed the maximum allowable values and do not lead to destruction. The analysis shows that the developed stand has improved capabilities compared to those previously used. Doi: 10.28991/CEJ-2023-09-01-013 Full Text: PDF
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Gholipour, Sara, Heydar Toosian Shandiz, Mobin Alizadeh, Sara Minagar, and Javad Kazemitabar. "Dynamic Sliding Mode Control Based on Fractional Calculus Subject to Uncertain Delay Based Chaotic Pneumatic Robot." International Journal of Sensors, Wireless Communications and Control 10, no. 3 (November 2, 2020): 413–20. http://dx.doi.org/10.2174/2210327909666190319142505.
Повний текст джерелаАнотація:
Background & Objective: This paper considers the chattering problem of sliding mode control in the presence of delay in robot manipulator causing chaos in such electromechanical systems. Fractional calculus was used in order to produce a novel sliding mode to eliminate chatter. To realize the control of a class of chaotic systems in master-slave configuration, a novel fractional dynamic sliding mode control scheme is presented and examined on the delay based chaotic robot. Also, the stability of the closed-loop system is guaranteed by Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Results: Moreover, delayed robot motions are sorted out for qualitative and quantitative study. Finally, numerical simulations illustrate feasibility of the proposed control method. Conclusion: The control scheme is viable.
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Jiang, Hao, Zhanchi Wang, Yusong Jin, Xiaotong Chen, Peijin Li, Yinghao Gan, Sen Lin, and Xiaoping Chen. "Hierarchical control of soft manipulators towards unstructured interactions." International Journal of Robotics Research 40, no. 1 (January 2021): 411–34. http://dx.doi.org/10.1177/0278364920979367.
Повний текст джерелаАнотація:
Performing daily interaction tasks such as opening doors and pulling drawers in unstructured environments is a challenging problem for robots. The emergence of soft-bodied robots brings a new perspective to solving this problem. In this paper, inspired by humans performing interaction tasks through simple behaviors, we propose a hierarchical control system for soft arms, in which the low-level controller achieves motion control of the arm tip, the high-level controller controls the behaviors of the arm based on the low-level controller, and the top-level planner chooses what behaviors should be taken according to tasks. To realize the motion control of the soft arm in interacting with environments, we propose two control methods. The first is a feedback control method based on a simplified Jacobian model utilizing the motion laws of the soft arm that are not affected by environments during interaction. The second is a control method based on [Formula: see text]-learning, in which we present a novel method to increase training data by setting virtual goals. We implement the hierarchical control system on a platform with the Honeycomb Pneumatic Networks Arm (HPN Arm) and validate the effectiveness of this system on a series of typical daily interaction tasks, which demonstrates this proposed hierarchical control system could render the soft arms to perform interaction tasks as simply as humans, without force sensors or accurate models of the environments. This work provides a new direction for the application of soft-bodied arms and offers a new perspective for the physical interactions between robots and environments.
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Xie, Hualong, Yao Xie, and Fei Li. "Design, Modeling and Control of Bionic Knee in Artificial Leg." INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL 14, no. 5 (November 17, 2019): 733. http://dx.doi.org/10.15837/ijccc.2019.5.3622.
Повний текст джерелаАнотація:
The biped robot with heterogeneous legs (BRHL) greatly facilitates the development of intelligent lower-limb prosthesis (ILLP). In the BRHL, the remaining leg of the amputee is simulated by an artificial leg, which provides the bionic leg with the precise gait following trajectory. Therefore, the artificial leg must closely mimic the features of the human leg. After analyzing the motion mechanism of the human knee, this paper designs a four-link bionic knee in light of the coexistence of rolling and sliding between the femur, the meniscus and the tibia. Drawing on the driving mechanism of leg muscles, two pneumatic artificial muscles (PAMs) were adopted to serve as the extensor and flexor muscles on the thigh. The two PAMs move in opposite direction, driving the knee motions in the artificial leg. To overcome the complexity of traditional PAM modelling methods, the author set up a PAM feature test platform to disclose the features of the PAMs, and built static and dynamic nonlinear mathematical models of the PAMs based on the test data. Next, a proportional-integral-derivative (PID) closed loop controller and sliding mode controller was designed for the bionic knee, referring to the kinetics equation of the knee. Through experimental simulation, it is confirmed that the proposed controller can accurately control the position of the four-link bionic knee, and that the designed bionic knee and PAM driving mode are both correct.
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Zhan, Hong-wu, Fang Xu, and Ling-feng Lu. "Researches on the Observation on the Jetting of Liquid of High Viscosity and Droplet Control." Open Mechanical Engineering Journal 9, no. 1 (October 7, 2015): 812–19. http://dx.doi.org/10.2174/1874155x01509010812.
Повний текст джерелаАнотація:
Valve regulated droplet jetting is an important method for the generation of liquid droplet of high viscosity. Based on learning from piezoelectric micro-droplet jetting mechanism and researching methods, theoretical analysis and simulation were conducted on the factors affecting the micro-droplet jetting volume, and the qualitative relationship between the size of the jetted droplet and the feed pressure and striker stroke so as to guide the designing of the structure of the pneumatic valve control type nozzle and design the droplet jetting system and observation experiment platform based on stroboscopic techniques. Different jetting parameters was changed according to the results of the theoretical analysis for the conduction of jetting experiment, and several glycerin solutions at different solutions were taken as the working liquid for studying the effect of the several factors like feed pressure, pulse driving pressure, driving pulse width, and striker stroke. The striker would not be lifted to an ultimate position through controlling the pulse air pressure or driving pulse width so as to be able to jet extremely tiny droplet, but this is of rather bad stability. It is the most effective, stable and optimized method to control the striker stroke so as to change the diameter and shapes of the droplets.
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Hassan, Mustafa, Mohammed Ibrahim Awad, and Shady A. Maged. "Develop Control Architectures to Enhance Soft Actuator Motion and Force." Computation 10, no. 10 (October 9, 2022): 178. http://dx.doi.org/10.3390/computation10100178.
Повний текст джерелаАнотація:
Study: Soft robots can achieve the desired range of motion for finger movement to match their axis of rotation with the axis of rotation of the human hand. The iterative design has been used to achieve data that makes the movement smooth and the range of movement wider, and the validity of the design has been confirmed through practical experiments. Limitation: The challenges facing this research are to reach the most significant inclined angle and increase the force generated by the actuator, which is the most complicated matter while maintaining the desired control accuracy. The motion capture system verifies the actual movement of the soft pneumatic actuator (SPA). A tracking system has been developed for SPA in action by having sensors to know the position and strength of the SPA. Results: The novelty of this research is that it gave better control of soft robots by selecting the proportional, integral, and derivative (PID) controller. The parameters were tuned using three different methods: ZN (Ziegler Nichols Method), GA (Genetic Algorism), and PSO (Particle Swarm Optimization). The optimization techniques were used in Methods 2 and 3 in order to reach the nominal error rate (0.6) and minimum overshoot (0.1%) in the shortest time (2.5 s). Impact: The effect of the proposed system in this study is to provide precise control of the actuator, which helps in medical and industrial applications, the most important of which are the transfer of things from one place to another and the process of medical rehabilitation for patients with muscular dystrophy. A doctor who treats finger muscle insufficiency can monitor a patient’s ability to reach a greater angle of flexion or increase strength by developing three treatment modalities to boost strength: Full Assisted Movement (FAM), Half Assisted Movement (HAM), and Resistance Movement (RM).
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Ngwa, Mboulé, Longlong Gao, and Baoren Li. "Numerical and Experimental Investigation of the Conjugate Heat Transfer for a High-Pressure Pneumatic Control Valve Assembly." Entropy 24, no. 4 (March 24, 2022): 451. http://dx.doi.org/10.3390/e24040451.
Повний текст джерелаАнотація:
This paper uses heat transfer experiments and computational fluid dynamics (CFD) simulations to investigate the conjugate heat transfer (CHT) in a high-pressure pneumatic control valve assembly. A heat transfer test rig was constructed, and time–temperature histories of five test points placed on the valve assembly’s outer surface were recorded for study validation. The Unsteady Reynolds-Averaged Navier–Stokes (URANS) CFD methods with the standard k-ε turbulence closure equations were adopted in the numerical computations. Polyhedral grids were used; time step and mesh convergence studies were conducted. Simulated and measured temperatures profile comparisons revealed a good agreement. The CHT results obtained from CFD showed huge velocity fields downstream of the valve throat and the vent hole. The airflow through the valve was icy, mainly in the supersonic flow areas. Low temperatures below 273.15 K were recorded on the internal and external walls of the valve assembly. The consistency of the measured data with the numerical results demonstrates the effectiveness of polyhedral grids in exploring the CHT using CFD methods. The local entropy production rate analysis revealed that irreversibility is mainly due to viscous dissipation. The current CHT investigation provides a potential basis for thermostress analysis and optimization.
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Ji, Myunggi, Qiang Li, In Ho Cho, and Jaeyoun Kim. "Rapid Design and Analysis of Microtube Pneumatic Actuators Using Line-Segment and Multi-Segment Euler–Bernoulli Beam Models." Micromachines 10, no. 11 (November 14, 2019): 780. http://dx.doi.org/10.3390/mi10110780.
Повний текст джерелаАнотація:
Soft material-based pneumatic microtube actuators are attracting intense interest, since their bending motion is potentially useful for the safe manipulation of delicate biological objects. To increase their utility in biomedicine, researchers have begun to apply shape-engineering to the microtubes to diversify their bending patterns. However, design and analysis of such microtube actuators are challenging in general, due to their continuum natures and small dimensions. In this paper, we establish two methods for rapid design, analysis, and optimization of such complex, shape-engineered microtube actuators that are based on the line-segment model and the multi-segment Euler–Bernoulli’s beam model, respectively, and are less computation-intensive than the more conventional method based on finite element analysis. To validate the models, we first realized multi-segment microtube actuators physically, then compared their experimentally observed motions against those obtained from the models. We obtained good agreements between the three sets of results with their maximum bending-angle errors falling within ±11%. In terms of computational efficiency, our models decreased the simulation time significantly, down to a few seconds, in contrast with the finite element analysis that sometimes can take hours. The models reported in this paper exhibit great potential for rapid and facile design and optimization of shape-engineered soft actuators.
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Fujita, Tetsuhito, Yusuke Shimoda, Katsuki Machida, Manabu Okui, Rie Nishihama, and Taro Nakamura. "Development of Variable Viscoelastic Joint Module Performance Evaluation and Proposal of Application Examples." Actuators 11, no. 3 (March 14, 2022): 89. http://dx.doi.org/10.3390/act11030089.
Повний текст джерелаАнотація:
With the diversification of robots, modularization of robots has been attracting attention. In our previous study, we developed a robot that mimics the principle of human joint drive using a straight-fiber-type pneumatic rubber artificial muscle (“artificial muscle”) and a magnetorheological fluid brake (“MR brake”). The variable viscoelastic joints have been modularized. Therefore, this paper evaluates the basic characteristics of the developed Joint Module, characterizes the variable viscoelastic joint, and compares it with existing modules. As basic characteristics, we confirmed that the Joint Module has a variable viscoelastic element by experimentally verifying the joint angle, stiffness, viscosity, and tracking performance of the generated torque to the command value. As a characteristic evaluation, we verified the change in motion and response to external disturbances due to differences in driving methods through simulations and experiments and proved the strength of the variable viscoelastic joint against external disturbances, which is a characteristic of variable viscoelastic joints. Based on the results of the basic characterization and the characterization of the variable viscoelastic drive joint, we discussed what kind of device the Joint Module is suitable to be applied to and clarified the position of the variable viscoelastic joint as an actuator system.
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Andrade, Ana, Kennedy Lopes, Bernardo Lima, and André Maitelli. "Development of a Methodology Using Artificial Neural Network in the Detection and Diagnosis of Faults for Pneumatic Control Valves." Sensors 21, no. 3 (January 27, 2021): 853. http://dx.doi.org/10.3390/s21030853.
Повний текст джерелаАнотація:
To satisfy the market, competition in the industrial sector aims for productivity and safety in industrial plant control systems. The appearance of a fault can compromise the system’s proper functioning process. Therefore, Fault Detection and Diagnosis (FDD) methods contribute to avoiding any undesired events, as there are techniques and methods that study the detection, isolation, identification and, consequently, fault diagnosis. In this work, a new methodology that uses faults emulation to obtain parameters similar to the Development and Application of Methods for Diagnosis of Actuators in Industrial Control Systems (DAMADICS) benchmark model will be developed. This methodology uses previous information from tests on sensors with and without faults to detect and classify the situation of the plant and, in the presence of faults, perform the diagnosis through a process of elimination in a hierarchical manner. In this way, the definition of residue signature is used as well as the creation of a decision tree. The whole process is carried out incorporating FDD techniques, through the Non-Linear Auto-Regressive Neural Network Model With Exogenous Inputs (NARX), in the diagnosis of the behavioral prediction of the signals to generate the residual values. Then, it is applied to the construction of the decision tree based on the most significant residue of a certain signal, enabling the process of acquisition and formation of the signature matrix. With the procedures in this article, it is possible to demonstrate a practical and systematic method of how to emulate faults for control valves and the possibility of carrying out an analysis of the data to acquire signatures of the fault behavior. Finally, simulations resulting from the most sensitized variables for the production of residuals that is generated by neural networks are presented, which are used to obtain signatures and isolate the flaws. The process proves to be efficient in computational time and makes it easy to present a fault diagnosis strategy that can be reproduced in other processes.
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Suppan, Thomas, Markus Neumayer, Thomas Bretterklieber, Stefan Puttinger, and Hannes Wegleiter. "A Model-Based Analysis of Capacitive Flow Metering for Pneumatic Conveying Systems: A Comparison between Calibration-Based and Tomographic Approaches." Sensors 22, no. 3 (January 23, 2022): 856. http://dx.doi.org/10.3390/s22030856.
Повний текст джерелаАнотація:
Pneumatic conveying is a standard transportation technique for bulk materials in various industrial fields. Flow metering is crucial for the efficient and reliable operation of such systems and for process control. Capacitive measurement systems are often proposed for this application. In this method, electrodes are placed on the conveyor systems transport line and capacitive signals are sensed. The design of the sensor with regard to the arrangement and the number of electrodes as well as the evaluation of the capacitive sensor signals can be divided into two categories. Calibration-based flow meters use regression methods for signal processing, which are parametrized from calibration measurements on test rigs. Their performance is limited by the extend of the calibration measurements. Electrical capacitance tomography based flow meters use model-based signal processing techniques to obtain estimates about the spatial material distribution within the sensor. In contrast to their calibration-based counterparts, this approach requires more effort with respect to modeling and instrumentation, as typically a larger number of measurement signals has to be acquired. In this work we present a comparative analysis of the two approaches, which is based on measurement experiments and a holistic system model for flow metering. For the model-based analysis Monte Carlo simulations are conducted, where randomly generated pneumatic conveying flow patterns are simulated to analyze the sensor and algorithm behavior. The results demonstrate the potential benefit of electrical capacitance tomography based flow meters over a calibration-based instrument design.
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Abdol-Hamid, K., D. E. Limbert, and G. A. Chapman. "The Effect of Leakage on Railroad Brake Pipe Steady State Behavior." Journal of Dynamic Systems, Measurement, and Control 110, no. 3 (September 1, 1988): 329–35. http://dx.doi.org/10.1115/1.3152690.
Повний текст джерелаАнотація:
A mathematical model for pneumatic transmission lines containing leakage is developed. This model is used to show the effect of leakage size and distribution on the steady state behavior of the brake pipe on a train brake system. The model equations are solved using the implicit finite difference scheme without neglecting any terms. The model is presented in a nonlinear continuous network form, consisting of N sections. Each of the network sections represents one car and may contain one leakage. A computer program was developed to solve the model equations. This program is capable of simulating a train with cars of various lengths and takes a minimum amount of computation time as compared with previous methods. Through analysis and experimentation, the authors have demonstrated that pressure gradient and inlet flow rate are very sensitive to leakage locations as compared with leakage size. The results, generated by the mathematical model, are compared with the experimental data of two different brake pipe set-ups having different dimensions.
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Kanaev, Andrey, Maria Sakharova, and Michail M. Lukichev. "Approach for developing the plan of restoration of data communication network within the decision support intelligent system by using the precedent-based recovery method." Bulletin of scientific research results, no. 1 (March 20, 2016): 46–56. http://dx.doi.org/10.20295/2223-9987-2016-1-46-56.
Повний текст джерелаАнотація:
Objective: To define the reasons, that prevent the implementation of electrical brake for multiple unit rolling stock (MVPS) with asynchronous traction drive as an automatic brake (emergency brakes). To find the method for eliminating of found reasons. To determine, using mathematical simulation, the time indexes of traction drive readiness to the electrical braking in case of no voltage in catenary system. Methods: Mathematical model of traction drive is built in Matlab Simulink software. By using this model the empirical relations of the time from the moment of command input, made by the control system, to start an emergency braking, to the moment of charging of input capacitors to nominal voltage (in case of no voltage in catenary system) from the train speed and equivalent resistance of stator circuit were obtained. Results: The problems, preventing the implementation of electrical brake for MVPS as an automatic brakes, are examined. The methods of solving these problems are suggested. By using the mathematical model the principal possibility of suggested methods is presented, as well as the estimation of the time of traction drive preparing for readiness for braking, depending on the train speed and equivalent resistance of stator circuit. Also, the engineering solutions, are found, that allow to implement the electrical brake for multiple unit rolling stock as an automatic one. Practical importance: Electrical for brake multiple unit rolling stock with asynchronous traction drive has several benefits in comparison with the pneumatic brake. It provides smaller braking distance, not influenced by low temperatures and provides better resistance for sliding and skidding. Implementation of electrical brakes for multiple unit rolling stock in the function of automatic brake will positively influence on the safety of operation and will allow to increase the operating speed of multiple unit rolling stock.
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Aleksandrov, Artem. "Method of implementation of electrical brake of electric trains with asynchronous traction drive in the function of automatic brake." Bulletin of scientific research results, no. 1 (March 20, 2016): 5–17. http://dx.doi.org/10.20295/2223-9987-2016-1-5-17.
Повний текст джерелаАнотація:
Objective: To define the reasons, that prevent the implementation of electrical brake for multiple unit rolling stock (MVPS) with asynchronous traction drive as an automatic brake (emergency brakes). To find the method for eliminating of found reasons. To determine, using mathematical simulation, the time indexes of traction drive readiness to the electrical braking in case of no voltage in catenary system. Methods: Mathematical model of traction drive is built in Matlab Simulink software. By using this model the empirical relations of the time from the moment of command input, made by the control system, to start an emergency braking, to the moment of charging of input capacitors to nominal voltage (in case of no voltage in catenary system) from the train speed and equivalent resistance of stator circuit were obtained. Results: The problems, preventing the implementation of electrical brake for MVPS as an automatic brakes, are examined. The methods of solving these problems are suggested. By using the mathematical model the principal possibility of suggested methods is presented, as well as the estimation of the time of traction drive preparing for readiness for braking, depending on the train speed and equivalent resistance of stator circuit. Also, the engineering solutions, are found, that allow to implement the electrical brake for multiple unit rolling stock as an automatic one. Practical importance: Electrical for brake multiple unit rolling stock with asynchronous traction drive has several benefits in comparison with the pneumatic brake. It provides smaller braking distance, not influenced by low temperatures and provides better resistance for sliding and skidding. Implementation of electrical brakes for multiple unit rolling stock in the function of automatic brake will positively influence on the safety of operation and will allow to increase the operating speed of multiple unit rolling stock.
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Repin, Sergei, Roman Litvin, Victor Kuzmichev, and Ivan Vorontsov. "AUTOMOTIVE SHOCK ABSORBERS’ APPLICABILITY FOR DAMPING RESONANT OSCILLATIONS IN CONSTRUCTION MACHINES." Architecture and Engineering 6, no. 1 (2021): 81–87. http://dx.doi.org/10.23968/2500-0055-2021-6-1-81-87.
Повний текст джерелаАнотація:
Introduction: Many vibration transport and technological machines (VTTM) such as conveyors, screens, crushers, etc. operate in a high-frequency mode, or above resonance. Resonance occurs during machine start and slowdown, resulting in sharply rising values of the amplitude and velocity of oscillations. Resonance affects VTTMs adversely due to increased dynamic loads reducing machinery operating life and reliability and causing the noise. Purpose of the study: We aim to provide a theoretical substantiation for the possibility to apply automotive shock absorbers to VTTM oscillatory process control and develop an example of practical implementation for such a device. Methods: The method of controlling oscillatory processes in VTTMs lies in the use of dual-mode shock absorbers. In the operating mode, shock absorbers offer minimum resistance to motion. In the resonance mode, resistance increases, therefore, the amplitude decreases to a predetermined value. Results: We simulate the VTTM oscillatory process in order to determine the characteristics of a damping device, which ensures the suppression of resonant oscillations but does not affect the vibration operating process. We propose a new technical device implementing the required oscillation characteristics. The device is made in the form of a hydro-pneumatic shock absorber, similar to automotive shock absorbers in terms of design. Such a design makes it possible to offer slight damping of the machine’s useful (operating) vibration, but, at the same time, damping increases significantly in the case of resonant amplitudes. The originality of our study lies in the development of a new type of hydraulic shock absorber, for which a utility model patent has been obtained. The scientific novelty of the study is in the mathematical description of oscillation damping with the new shock absorber, in the development of software for oscillatory process analysis according to the developed mathematical model, and in the results of computer simulation for shock absorber operation.
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Yang, Xin Jun. "Research on Positioning Control of Pneumatic-Hydraulic Intensifier." Advanced Materials Research 945-949 (June 2014): 1606–10. http://dx.doi.org/10.4028/www.scientific.net/amr.945-949.1606.
Повний текст джерелаАнотація:
The properties of hydraulic driving are good speed-load characteristics, anti-forward rushing and accurate positioning at any location. While the properties of pneumatic driving are clean, efficient, fast. All the advantages of hydraulic and pneumatic driving can be combined in Pneumatic-hydraulic intensifier. So it is widely used in varies fields. Its very important to control the position of Pneumatic-hydraulic intensifier. In this paper, a Fuzzy self-tuning PID controller was designed and simulation experiment was done. Simulation results show that the controller performs well.
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Mîndru, Rares Ciprian, Vistrian Maties, Ciprian Lapusan, and Ioan Adrian Cosma. "Aspects Regarding Pneumatic System Simulated Control." Solid State Phenomena 166-167 (September 2010): 291–96. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.291.
Повний текст джерелаАнотація:
The paper proposes a large approach to pneumatic systems starting from the mathematical laws, written in the form of differential equations, which govern the operation of pneumatic systems and continuing with the simulation model. The concept of integrated design includes all approaches, needed for an optimal and deep system understanding, such as modeling, simulation and control. Pneumatic actuators have a nonlinear functionality because of air compressibility, the existing frictions and the valves nonlinearities. Because of these, they are used in high speed applications and simple positioning systems. Thus, the mathematical analyses of pneumatic systems have received a special attention. The differential equations were implemented in Matlab Simulink, and the model input represents the voltage on the electromagnetic valve, and the output seen on the "scope" represents the movement of the piston pneumatic axis. Some control algorithms are implemented and applied to the model and seen the basic differences.
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Feng, Zhi Gang, and Xue Juan Zhang. "Study on Fault Simulation for Pneumatic Actuator Model." Advanced Materials Research 706-708 (June 2013): 1025–28. http://dx.doi.org/10.4028/www.scientific.net/amr.706-708.1025.
Повний текст джерелаАнотація:
Actuator, as the execution of the terminal unit of the control system is directly related to the safe and reliable operation of the production process, and once actuators in the system malfunction, will bring huge losses. The research on pneumatic actuator not only devote to the study of its structure, but also need to study the basic theory of the actuator system modeling, and Laid a foundation for the study of the actuator fault diagnosis. Firstly, this paper introduces the components and working principle of the pneumatic actuators which mainly include three parts: pneumatic servomotor, positioner, and control valve. Secondly, the DABlib modules of MATLAB/Simulink as the simulation model of actuator failure are introduced. Finally, we analyzed the common faults of the pneumatic servomotor, positioner, and control valve, and in the MATLAB/Simulink environment, the faults are simulated, and describes the phenomenon of two typical fault.
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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.
Повний текст джерелаАнотація:
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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Rusadi, Rusadi, Hadimi Hadimi, and Edi Karyadi. "Design Robot Hand Pneumatic System Simulation Using PLC Control for Mechatronics Learning Applications." Vokasi: Jurnal Publikasi Ilmiah 17, no. 1 (June 20, 2022): 51–54. http://dx.doi.org/10.31573/vokasi.v17i1.454.
Повний текст джерелаАнотація:
The Pneumatic System is a power transfer system utilizing compressed air as an intermediate medium. In conventional operation it is operated fully pneumatically or in combination with electricity (electropneumatic). In recent years it can be combined and controlled with a programmable logic controller (PLC). The operation of the pneumatic system with the PLC control system is carried out by desaign a program with a program language, one of which is the Ladder Diagram accompanied by I/O addressing, then the result design program must be transferred to the PLC as the controller of the pneumatic system in this case the controller. robot hand.
This study aims to obtain a pneumatic robot hand circuit and a series of ladder diagram programs to control the PLC system in the robot's hand. The results of this research can be used as a reference in designing a pneumatic system with PLC control in the future.
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Yin, Jiao, Hu Liu, Jun Wang, and Ke Li. "Control System Design of Pneumatic Conveying in Sand/Dust Environment Simulation Test." Applied Mechanics and Materials 442 (October 2013): 424–29. http://dx.doi.org/10.4028/www.scientific.net/amm.442.424.
Повний текст джерелаАнотація:
This paper focuses on the design of pneumatic conveying control system, including the design of both hardware and software part. The hardware part is mainly about building a test bed. Under certain wind conditions, by controlling the rotary feed valve to achieve the control of sand/dust concentration. The software part is to make the use of LabVIEW to develop a screen display program, which can achieve real-time data acquisition and control. The paper consists of three parts, the pneumatic control system hardware design, the pneumatic conveying control system software design and then Origin is used to linear fit the wind speed parameters collected back.
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Nagase, Jun Ya, Kazuki Hamada, Toshiyuki Satoh, and Norihiko Saga. "Model Predictive Control for Tendon-Driven Balloon Actuator under Constraints on Simulation." Applied Mechanics and Materials 789-790 (September 2015): 615–20. http://dx.doi.org/10.4028/www.scientific.net/amm.789-790.615.
Повний текст джерелаАнотація:
Many pneumatic actuators have been developed in order to be lightweight with high output for decreasing impact force. So far, a pneumatic tendon-driven balloon actuator (balloon actuator) which is compact and lightweight has been developed for a robot hand and a rehabilitation device. However, for pneumatic actuator, it is difficult to maintain exact control because these actuators have constraints. For this study, we developed a stroke control system for a balloon actuator using a constrained model predictive control (MPC) scheme that can consider constraints of the plant output. As described in this paper, we compared and evaluated the control performance using MPC and PID.
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Xie, Jian Ping, Xiao Hong Kong, Yi Zhou, Yan Feng Chen, and Xin Hua Mao. "Application of Intelligent Control in the Servo System." Key Engineering Materials 464 (January 2011): 171–74. http://dx.doi.org/10.4028/www.scientific.net/kem.464.171.
Повний текст джерелаАнотація:
The pneumatic valves are widely used in the actual industrial production, and their practical performances are very important to the control system. Traditionally, the common PID controller is widely used in the control of the pneumatic valves. Due to the strong nonlinearity of the pneumatic valve, the control effect of the PID method for the pneumatic valve is below what is desired. In order to address this problem, a fuzzy PID control scheme is presented to be used in the pneumatic system in this paper. Simulation results and the practical control effect show that this kind of compound control structure has better performance than the classical PID control method and satisfactory effects have been obtained.
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Yuan, Rui Bo, Chun Geng Sun, Qing Lee, and Hai Feng Yang. "Dynamic Simulation of Position Servo System of Pneumatic Manipulator Based on AMESim and Simulink." Advanced Materials Research 97-101 (March 2010): 2580–84. http://dx.doi.org/10.4028/www.scientific.net/amr.97-101.2580.
Повний текст джерелаАнотація:
The research works involved in a three freedoms line type pneumatic manipulator. The object is aimed to control of position servo system. According to the mathematic model of single freedoms pneumatic manipulator, AMESim and MATLAB were used for system control simulation, and made comparison between whether or not have PID controller in the pneumatic position servo system in the simulation, obtain Consistent results. The Results shown that PID control of the pneumatic position servo system has high steady-state accuracy, short adjusting time, little overshoot, and can overcome the nonlinear time—varying characteristics to some extent.
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Wang, Si Yuan, Guang Sheng Ren, and Pan Nie. "Simulation Analysis of Electro-Pneumatic Proportional Fuzzy-PID Control System Based on AMESim/Simulink." Advanced Materials Research 945-949 (June 2014): 2568–72. http://dx.doi.org/10.4028/www.scientific.net/amr.945-949.2568.
Повний текст джерелаАнотація:
The test rig for hydro-pneumatic converter used in straddle type monorail vehicles was researched, and its electro-pneumatic proportional control system was set up and simulated based on AMESim/Simulink. Compared fuzzy-PID (Proportion Integral Derivative) controller with PID controller through fuzzy logic tool box in Simulink, the results indicate that, this electro-pneumatic proportional control system can meet design requirements better, and fuzzy-PID controller has higher accuracy and stability than PID controller.
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Zeng, Hao, Rui Bo Yuan, Zu Shun He, and Peng Yi. "Speed Servo Control of Pneumatic Manipulator Based on Sliding Mode Variable Structure Control." Applied Mechanics and Materials 233 (November 2012): 158–62. http://dx.doi.org/10.4028/www.scientific.net/amm.233.158.
Повний текст джерелаАнотація:
For a series of non-linear factors of compression, friction, air pressure and load changing in the pneumatic system, it impact seriously on low-speed precision and stability of the pneumatic servo system. As the sliding mode variable structure has a good anti-interference ability and capacity of the model parameter perturbation, In this paper we use the above control strategy to solve the unmodeled part of the pneumatic system dynamics and bounded disturbances, so it can improve accuracy and stability of the aerodynamic servo system. The simulation results indicate that the system combined with sliding mode variable structure strategy has better anti-jamming capability and response speed than the traditional PID control strategy.
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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.
Повний текст джерелаАнотація:
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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Wang, Jin Xian, Zeng Wen, and Song Jing Li. "Design of a Pneumatic Flow Rate Control Microvalve Driven by a Stepper-Motor." Applied Mechanics and Materials 779 (July 2015): 244–49. http://dx.doi.org/10.4028/www.scientific.net/amm.779.244.
Повний текст джерелаАнотація:
A pneumatic microvalve which can be used in pneumatic pressure control for lab-on-a-chip applications is presented in this paper. In order to realize a feedback control and miniaturization, a micro stepper-motor is selected to control the opening of the microvalve. After introducing the structure and working principle of the pneumatic microvalve driven by a stepper-motor, the static flow rate simulation of pneumatic stepper-motor microvalve is processed in the condition of different opening sizes of the microvalve and pressure difference over the valve. The stepper-motor microvalve is fabricated and corresponding control circuit is designed. Experiments on static and dynamic characteristics of the microvalve are carried out. Good agreement has been shown between the simulation and experimental results.
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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.
Повний текст джерелаАнотація:
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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Wang, Hong Yan, Hai Sheng Bi, Lu Lu Wang, Wen Sheng Xiao, Chang Jiang Li, and Qi Liu. "Design and Simulation of a New Hammer Source Control System." Applied Mechanics and Materials 865 (June 2017): 502–7. http://dx.doi.org/10.4028/www.scientific.net/amm.865.502.
Повний текст джерелаАнотація:
There are a series of problems in using explosive source in land oil seismic exploration at present. Aiming at this problem, a new hammer source system which can replace explosive source was proposed. Function of the hammer source system was analyzed and a typical pneumatic control circuit was designed. With the advantages of strong impact, high speed and small gas consumption, quick air exhaust impact cylinder was used in the hammer source system. An electronic control system was designed based on PLC, including the hardware component and software design. The pneumatic control system was simulated and analyzed in AMESim, and the results showed that the system can meet the design requirements, provide a reference for engineering application.
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Li, Wei Kang, Shuo Yang, and Xin Le Yang. "Sorting Mechanism and Airflow Simulation of Garbage Pneumatic Separator." Applied Mechanics and Materials 148-149 (December 2011): 297–300. http://dx.doi.org/10.4028/www.scientific.net/amm.148-149.297.
Повний текст джерелаАнотація:
In order to obtain flow rule and separation mechanism of garbage mixture particle in pneumatic separator, under the conditions of certain parameters and boundary, gas-solid two-phase flow mathematic model of garbage mixture particle was set up, FLUENT software was used to simulation and analyze the flow field of improved pneumatic separator, the separate track of particle in improved pneumatic separator was gained and performance of improved pneumatic separator was forecasted. Numerical simulation results show that the improved pneumatic separator has stable variation of pressure and velocity field. There not exist internal turbulence and back-mixing phenomenon and three particles with different qualities can be separated effectively. The numerical methods can be further optimized pneumatic separator and important theoretical foundation and technology method are provided for improving the structure and performance of pneumatic separator.