期刊
MECHATRONICS
卷 15, 期 7, 页码 859-881出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechatronics.2005.01.003
关键词
pneumatic actuators; pulse width modulation; solenoid valves; non-linear dynamical systems
In this paper an extensive set of experiments and a related mathematical model investigating the dynamics of pneumatic actuators controlled by on-off solenoid valves, whose opening and closing time response is based on a pulse width modulation (PWM) technique, is presented. The experimental set-up consists of both commercial electronics and circuits appropriately realized where particular needs are required. As well as providing a highly repeatable set of measurements, valuable for future comparisons, the experimental investigation also provides an appropriate base aimed at testing the performances of the analytical model. The analytical-experimental comparisons show the ability of the theoretical model to provide an accurate mean expectation of the position of the actuator less than about 2 rum. Such a capability of the model is tested for several operating and initial conditions during the first five cycles. The present theoretical model dealing with a non-linear dynamics phenomena whose behaviour is highly transient should be considered an attempt aimed at providing a valuable tool for designing control strategies without the need for expensive physical models. (c) 2005 Elsevier Ltd. All rights reserved.
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