Modified Nonlinear Pressure Estimator of Pneumatic Actuator for Force Controller Design

Yun-Pyo Hong1, Soohyun Kim2, Kyung-Soo Kim2

  • 1Korea Advanced Institute of Science and Technology(KAIST)
  • 2KAIST(Korea Advanced Institute of Science and Technology)

Details

11:40 - 11:45 | Tue 30 May | Room 4011 | TUB1.3

Session: Actuators 2

Abstract

This paper presents a modified nonlinear pneumatic model for pneumatic force servo systems. The modified model is proposed in order to estimate pressures accurately for both chambers of a pneumatic cylinder by adopting flow coefficient maps, which is different from a conventional model whose flow coefficient is constant. The simulated data from the model is also compared to the experiment result and shows its accuracy compared to a widely used conventional model. The modified model and the experimental procedure are described and verified in this paper as well. Finally, the applicability of the proposed model to model-based controller design is also shown through the experiment of force servo controls based on a force sensor.