Control of Air Cylinder Actuator with Common Bias Pressure

Kiyoshi Hoshino; Weragala Don Gayan Krishantha

doi:10.20965/jrm.2011.p0991

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JRM Vol.23 No.6 pp. 991-998

doi: 10.20965/jrm.2011.p0991

(2011)

Paper:

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Control of Air Cylinder Actuator with Common Bias Pressure

Kiyoshi Hoshino and Weragala Don Gayan Krishantha

Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

Received:

April 20, 2011

Accepted:

August 26, 2011

Published:

December 20, 2011

Keywords:

common bias pressure, double-acting air cylinder, passive stiffness, overshoot, rise time

Abstract

In this study, we propose a control algorithm for a pneumatic actuator that has dynamics and features similar to those of the human muscle, mainly with the aim of helping elderly persons communicate. The algorithm in this study can estimate gains by using a simple method with a double-acting air cylinder and can realize accurate speed control and position control. Specifically, we aimed to achieve quick response and less overshoot by providing a PD controller for common bias pressure control, that can generate passive stiffness, in addition to a PID controller capable of controlling disturbance and target tracking without any complicated control system. We performed gain estimation by first theoretically estimating the PID gain and then determining the optimum PD gain by actually moving an air cylinder. We tried controlling a system consisting of one air cylinder and a solenoid valve and found that the overshoot, which was nearly 30% with only the PID controller, was controlled to 4%, while the rise time was less than 200 ms of that when only the PID controller was used.

Cite this article as:

K. Hoshino and W. Krishantha, “Control of Air Cylinder Actuator with Common Bias Pressure,” J. Robot. Mechatron., Vol.23 No.6, pp. 991-998, 2011.

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References

[1] S. R. Pandian, F. Takemura, Y. Hayakawa, and S. Kawamura, “Pressure observer-controller design for pneumatic cylinder actuator,” IEEE/ASME Trans. on Mechatronics, Vol.7, No.4, pp. 490-499, 2002.
[2] N. Gulati and E. J. Barth, “Pressure observer based servo control of pneumatic actuators,” Proc. 2005 IEEE/ASME Intl. Conf. Advanced Intelligent Mechatronics, pp. 498-503, 2005.
[3] S. Shibata, T. Yamamoto, and M. Jindai, “A synchronous mutual position control for vertical pneumatic servo system,” JSME Int. J. Series C, Mechanical Systems, Machine Elements and Manufacturing, Vol.49, No.1, pp. 197-204, 2006.
[4] K. Hoshino and I. Kawabuchi, “Control of generated force and stiffness in pneumatic air cylinder actuator,” IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics, CD-ROM, Vol.77, pp. 1-6, 2006.
[5] K. Hoshino and I. Kawabuchi, “Actuator using fluid cylinder, method of controlling the actuator, and choke valve device,” PCT/JP2004/016553, Nov. 8, 2004.
[6] K. Hoshino and I. Kawabuchi, “Actuator using fluid cylinder and method of controlling the same,” PCT/JP2006/306968, Mar. 31, 2006.
[7] K. Hoshino and W. D. Gayan, “Calligraphic motion by humanoid robot arm using air cylinder actuators as endoskeletons,” Int. Conf. Mechatronics, Vol.4, TuM1-C-1, pp. 1-6, 2007.
[8] T. Kitamori, “Smooth extension of control system design algorithm from linear to non-linear systems,” 2nd Japan-China Joint Symposium on Systems Control Theory and Its Applications, pp. 17-26, 1990.
[9] D. Huang and T. Katayama, “Estimation of parameter bounds for continuous-time systems with delay and its application to robust I-PD controller design,” Trans. Inst. Systems, Control and Information Engineers, Vol.12, pp. 540-548, 1999.
[10] T. Tagami, T. Kawabe, and K. Ikeda, “Multi-objective Design Scheme for Robust I-PD Controller,” Proc. IASTED Int. Conf. Modelling, Identification, and Control (MIC2004), pp. 128-131, 2004.
[11] T. Sato and A. Inoue, “Multirate I-PD Controller based on Multirate Generalised Predictive Control using Integrator,” Proc. 6th IASTED Int. Conf. Intelligent Systems and Control, pp. 193-198, 2004.
[12] S. Shin and T. Kitamori, “Model reference learning control for discrete-time nonlinear systems,” Adaptive Systems in Control and Signal Processing 1989, Pergamon Press, pp. 101-106, 1990.
[13] S. Shin and T. Kitamori, “Variable robust adaptive law,” Proc.Workshop on Robust Control, Springer-Verlag, pp. 179-185, 1992.
[14] K. Hoshino, “Control of speed and power in a humanoid robot arm using pneumatic actuators for human-robot coexisting environment,” IEICE Trans. on Information and Systems, Vol.E91-D, No.6, pp. 1693-1699, 2008.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. R. Pandian, F. Takemura, Y. Hayakawa, and S. Kawamura, “Pressure observer-controller design for pneumatic cylinder actuator,” IEEE/ASME Trans. on Mechatronics, Vol.7, No.4, pp. 490-499, 2002.

[2] [2] N. Gulati and E. J. Barth, “Pressure observer based servo control of pneumatic actuators,” Proc. 2005 IEEE/ASME Intl. Conf. Advanced Intelligent Mechatronics, pp. 498-503, 2005.

[3] [3] S. Shibata, T. Yamamoto, and M. Jindai, “A synchronous mutual position control for vertical pneumatic servo system,” JSME Int. J. Series C, Mechanical Systems, Machine Elements and Manufacturing, Vol.49, No.1, pp. 197-204, 2006.

[4] [4] K. Hoshino and I. Kawabuchi, “Control of generated force and stiffness in pneumatic air cylinder actuator,” IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics, CD-ROM, Vol.77, pp. 1-6, 2006.

[5] [5] K. Hoshino and I. Kawabuchi, “Actuator using fluid cylinder, method of controlling the actuator, and choke valve device,” PCT/JP2004/016553, Nov. 8, 2004.

[6] [6] K. Hoshino and I. Kawabuchi, “Actuator using fluid cylinder and method of controlling the same,” PCT/JP2006/306968, Mar. 31, 2006.

[7] [7] K. Hoshino and W. D. Gayan, “Calligraphic motion by humanoid robot arm using air cylinder actuators as endoskeletons,” Int. Conf. Mechatronics, Vol.4, TuM1-C-1, pp. 1-6, 2007.

[8] [8] T. Kitamori, “Smooth extension of control system design algorithm from linear to non-linear systems,” 2nd Japan-China Joint Symposium on Systems Control Theory and Its Applications, pp. 17-26, 1990.

[9] [9] D. Huang and T. Katayama, “Estimation of parameter bounds for continuous-time systems with delay and its application to robust I-PD controller design,” Trans. Inst. Systems, Control and Information Engineers, Vol.12, pp. 540-548, 1999.

[10] [10] T. Tagami, T. Kawabe, and K. Ikeda, “Multi-objective Design Scheme for Robust I-PD Controller,” Proc. IASTED Int. Conf. Modelling, Identification, and Control (MIC2004), pp. 128-131, 2004.

[11] [11] T. Sato and A. Inoue, “Multirate I-PD Controller based on Multirate Generalised Predictive Control using Integrator,” Proc. 6th IASTED Int. Conf. Intelligent Systems and Control, pp. 193-198, 2004.

[12] [12] S. Shin and T. Kitamori, “Model reference learning control for discrete-time nonlinear systems,” Adaptive Systems in Control and Signal Processing 1989, Pergamon Press, pp. 101-106, 1990.

[13] [13] S. Shin and T. Kitamori, “Variable robust adaptive law,” Proc.Workshop on Robust Control, Springer-Verlag, pp. 179-185, 1992.

[14] [14] K. Hoshino, “Control of speed and power in a humanoid robot arm using pneumatic actuators for human-robot coexisting environment,” IEICE Trans. on Information and Systems, Vol.E91-D, No.6, pp. 1693-1699, 2008.