Dynamic Constraint-Based Energy-Saving Control of Pneumatic Servo Systems

This paper proposes a control approach that can provide significant energy savings for the control of pneumatic servo systems. The control methodology is formulated by decoupling the standard four-way spool valve used for pneumatic servo control into two three-way valves, then using the resulting two control degrees of freedom to simultaneously satisfy a performance constraint (which for this paper is based on the sliding mode sliding condition), and an energy-saving dynamic constraint that minimizes cylinder pressures. The control formulation is presented, followed by experimental results that indicate significant energy savings with essentially no compromise in tracking performance relative to control with a standard four-way spool valve.

[1]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[2]  Yildirim Hurmuzlu,et al.  A High Performance Pneumatic Force Actuator System: Part II—Nonlinear Controller Design , 2000 .

[3]  Yukio Kawakami,et al.  Application of Energy-saving to Pneumatic Driving Systems , 1999 .

[4]  W. Jihong,et al.  Energy efficient optimal control of pneumatic actuator systems. , 2000 .

[5]  Laura Gastaldi,et al.  The design of a pneumatic actuator with low energy consumption , 1994 .

[6]  Gary M. Bone,et al.  High steady-state accuracy pneumatic servo positioning system with PVA/PV control and friction compensation , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[7]  Septimiu E. Salcudean,et al.  A force-controlled pneumatic actuator , 1995, IEEE Trans. Robotics Autom..

[8]  Song Liu,et al.  Energy-saving control of hydraulic systems with novel programmable valves , 2002, Proceedings of the 4th World Congress on Intelligent Control and Automation (Cat. No.02EX527).

[9]  E.J. Barth,et al.  Energy saving control for pneumatic servo systems , 2003, Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003).

[10]  Yildirim Hurmuzlu,et al.  A High Performance Pneumatic Force Actuator System: Part I—Nonlinear Mathematical Model , 2000 .

[11]  Yukio Kawakami,et al.  Approach for Energy-saving of Pneumatic Systems , 2000 .

[12]  James E. Bobrow,et al.  Modeling, Identification, and Control of a Pneumatically Actuated, Force Controllable Robot , 1996 .

[13]  V. J. Majd,et al.  A continuous friction model for servo systems with stiction , 1995, Proceedings of International Conference on Control Applications.

[14]  C. R. Burrows,et al.  Fluid Power Servomechanisms , 1976 .

[15]  Yukio Kawakami,et al.  Position Control of Pneumatic Lifters , 2000 .

[16]  Laura Gastaldi,et al.  Model and Dynamic of Energy Saving Pneumatic Actuator , 1995 .

[17]  D. McCloy.  control of fluid power , 1973 .

[18]  Donald Margolis,et al.  Energy Regenerative Actuator for Motion Control With Application to Fluid Power Systems , 2005 .

[19]  Philip Moore,et al.  A practical control strategy for servo-pneumatic actuator systems , 1999 .