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Memorias de investigación
Communications at congresses:
Implementation of Decoupled Model-Based Controller in a 2-DOF Pneumatic Platform used in Low-Cost Driving Simulators
Year:2009
Research Areas
  • Automatic
Information
Abstract
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.
International
Si
Congress
Electronics Robotics and Automotive Mechanics Conference
960
Place
Cuernavaca MEXICO
Reviewers
Si
ISBN/ISSN
978-0-7695-3799-3
Start Date
22/09/2009
End Date
25/09/2009
From page
338
To page
343
CERMA: 2009 ELECTRONICS ROBOTICS AND AUTOMOTIVE MECHANICS CONFERENCE
Participants
  • Participante: Ernesto Rubio (Universidad de las Villas, Cuba)
  • Autor: Rafael Aracil Santonja (UPM)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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