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Descripción
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| This study presents a solution for the control of a 2-DOF platform with two electro-pneumatic actuators. This solution is currently used by the SIMPRO Company in low-cost driving simulators. The control of a pneumatic servo system is a complex task due to the highly non-linear dynamics of the electro-pneumatic actuators; furthermore the multivariable character of the multi-DOF system complicates the problem. First, the dynamic description of the actuators, analytically or by experimental identification, considering its dependence from the piston position, is obtained. From this model, a linear controller is synthesized by pole placement, performance indexes with a high disturbance rejection are established, as well as the capacity for tracking to a ramp-type reference with a low settling time. The synthesis method of the controller is applied to the 2-DOF pneumatic platform in a decoupled manner for each actuator. The whole solution is then implemented in an embedded controller showing adequate performance. | |
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Internacional
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Si |
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Nombre congreso
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Electronics Robotics and Automotive Mechanics Conference |
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Tipo de participación
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960 |
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Lugar del congreso
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Cuernavaca MEXICO |
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Revisores
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Si |
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ISBN o ISSN
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978-0-7695-3799-3 |
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DOI
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Fecha inicio congreso
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22/09/2009 |
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Fecha fin congreso
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25/09/2009 |
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Desde la página
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338 |
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Hasta la página
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343 |
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Título de las actas
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CERMA: 2009 ELECTRONICS ROBOTICS AND AUTOMOTIVE MECHANICS CONFERENCE |