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)

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Regular Papers

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11:30 - 12:45 | Tue 30 May | Room 4011 | TUB1

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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.

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