Accurate Motion Control of a Pneumatic Linear Peristaltic Actuator
Pneumatic linear peristaltic actuators can offer some potential advantages when compared with conventional ones. The low cost, virtually unlimited stroke and easy implementation of curved motion profiles are among those benefits. On the downside, these actuators suffer high mechanical stress that ca...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-07-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/9/3/63 |
| _version_ | 1797560898216263680 |
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| author | João Falcão Carneiro João Bravo Pinto Fernando Gomes de Almeida |
| author_facet | João Falcão Carneiro João Bravo Pinto Fernando Gomes de Almeida |
| author_sort | João Falcão Carneiro |
| collection | DOAJ |
| description | Pneumatic linear peristaltic actuators can offer some potential advantages when compared with conventional ones. The low cost, virtually unlimited stroke and easy implementation of curved motion profiles are among those benefits. On the downside, these actuators suffer high mechanical stress that can lead to short service life and increased leakage among chambers during the actuator lifetime. One way to cope with this problem is to impose the force—instead of the displacement—between rollers, as this has been shown to improve the endurance of the hose while reducing leakage during the actuator lifetime. This paper presents closed control loop results using such a setup. Previous studies with linear peristaltic actuators have revealed that, although it is possible to reach zero steady state error to constant references with closed loop control, the dynamic response obtained is very slow. This paper is mainly focused on this topic, namely on the development of several control laws to improve the dynamic performance of the system while avoiding limit cycles. The new developed control law leads to an average time of 1.67 s to reach a 0.1 mm error band in an experiment consisting of a series of 16 steps ranging from 0.02 to 0.32 m in amplitude. |
| first_indexed | 2024-03-10T18:06:47Z |
| format | Article |
| id | doaj.art-19e61451420d4974b7477b2f03cb5619 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T18:06:47Z |
| publishDate | 2020-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-19e61451420d4974b7477b2f03cb56192023-11-20T08:25:53ZengMDPI AGActuators2076-08252020-07-01936310.3390/act9030063Accurate Motion Control of a Pneumatic Linear Peristaltic ActuatorJoão Falcão Carneiro0João Bravo Pinto1Fernando Gomes de Almeida2LAETA-INEGI, Faculdade de Engenharia, Universidade do Porto, Rua Dr. Roberto Frias, s/n, 4200-465 Porto, PortugalLAETA-INEGI, Universidade do Porto, Rua Dr. Roberto Frias, s/n, 4200-465 Porto, PortugalLAETA-INEGI, Faculdade de Engenharia, Universidade do Porto, Rua Dr. Roberto Frias, s/n, 4200-465 Porto, PortugalPneumatic linear peristaltic actuators can offer some potential advantages when compared with conventional ones. The low cost, virtually unlimited stroke and easy implementation of curved motion profiles are among those benefits. On the downside, these actuators suffer high mechanical stress that can lead to short service life and increased leakage among chambers during the actuator lifetime. One way to cope with this problem is to impose the force—instead of the displacement—between rollers, as this has been shown to improve the endurance of the hose while reducing leakage during the actuator lifetime. This paper presents closed control loop results using such a setup. Previous studies with linear peristaltic actuators have revealed that, although it is possible to reach zero steady state error to constant references with closed loop control, the dynamic response obtained is very slow. This paper is mainly focused on this topic, namely on the development of several control laws to improve the dynamic performance of the system while avoiding limit cycles. The new developed control law leads to an average time of 1.67 s to reach a 0.1 mm error band in an experiment consisting of a series of 16 steps ranging from 0.02 to 0.32 m in amplitude.https://www.mdpi.com/2076-0825/9/3/63linear peristaltic pneumatic actuatorsaccurate motion controlPID control |
| spellingShingle | João Falcão Carneiro João Bravo Pinto Fernando Gomes de Almeida Accurate Motion Control of a Pneumatic Linear Peristaltic Actuator Actuators linear peristaltic pneumatic actuators accurate motion control PID control |
| title | Accurate Motion Control of a Pneumatic Linear Peristaltic Actuator |
| title_full | Accurate Motion Control of a Pneumatic Linear Peristaltic Actuator |
| title_fullStr | Accurate Motion Control of a Pneumatic Linear Peristaltic Actuator |
| title_full_unstemmed | Accurate Motion Control of a Pneumatic Linear Peristaltic Actuator |
| title_short | Accurate Motion Control of a Pneumatic Linear Peristaltic Actuator |
| title_sort | accurate motion control of a pneumatic linear peristaltic actuator |
| topic | linear peristaltic pneumatic actuators accurate motion control PID control |
| url | https://www.mdpi.com/2076-0825/9/3/63 |
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