Cylinder position control driven by pneumatic digital bridge circuit using a fuzzy algorithm under large stroke and varying load conditions |
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| Affiliation: | 1. Department of State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, 110819, China;2. School of Electronic Electrical and Communication Engineering, University of Chinese Academy of Sciences, Beijing, 101408, China;3. Qiqihar Heavy CNC Equipment Corp., Ltd., Qiqihar, 161000, China;1. Department of Mathematics, Guizhou University, Guiyang, Guizhou 550025, China;2. Supercomputing Algorithm and Application Laboratory of Guizhou University and Gui’an Scientific Innovation Company, Guizhou University, Guiyang, Guizhou 550025, China;3. Department of Mathematical Analysis and Numerical Mathematics, Faculty of Mathematics, Physics and Informatics, Comenius University in Bratislava, Mlynská dolina, 842 48 Bratislava, Slovakia;4. Mathematical Institute, Slovak Academy of Sciences, Štefánikova 49, 814 73 Bratislava, Slovakia;1. Key Laboratory of Intelligent Analysis and Decision on Complex Systems, School of Science, Chongqing University of Posts and Telecommunications, Chongqing, PR China;2. Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing, College of Automation, Chongqing University of Posts and Telecommunications, Chongqing, PR China;3. Department of Complexity Science, Potsdam Institute for Climate Impact Research, Potsdam, Germany;4. Institute of Physics, Humboldt University of Berlin, Berlin, Germany;1. School of Mathematics and Statistics, Guangxi Normal University, Guilin 541006, China;2. School of Electronic Information and Electrical Engineering, Chengdu University, Chengdu, 610106, China;3. School of Mathematics, Southeast University, Nanjing 210096, China;4. Yonsei Frontier Lab, Yonsei University, Seoul 03722, South Korea;5. School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221000, China;1. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China;2. School of Electrical and Information Engineering, Hunan University of Technology, Zhuzhou 412007, China |
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| Abstract: | A digital bridge circuit based on the concept of independent metering control can enable the precise position control of a pneumatic cylinder, but large strokes and variable loads still cause challenges. To solve this problem, a piecewise on/off valve flow compensator and a composite friction observer were innovatively designed in this study, and they were combined with a multiple fuzzy intelligent algorithm to ensure the accuracy and robustness of pneumatic position control. Considering the starting and stopping delays and the response processes of on/off valves, a six-stage flow–duty ratio linearization relationship was proposed. Employing a parameter identification method, a static and dynamic composite friction model was presented. Then, a fuzzy PID controller was proposed, and a genetic algorithm was used to optimize the control parameters. Experiment results showed that, when focusing on a large stroke (250 mm) and varying loads (8.5–18.5 kg), for sinusoidal signal with amplitude of 150 mm and frequency of 0.125 Hz and the air supply pressure is 0.5 Mpa, the algorithm in this study could ensure that the steady-state step response error was less than 1% and the root mean squared error of the sinusoidal trajectory tracking was less than 3%. |
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