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Multimodel PD-control of a pneumatic actuator under variable loads

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Abstract

In this paper, a multimodel controller is designed and implemented to a variably loaded pneumatic actuator. A particular design of the pneumatic system with one PWM-driven switching valve is utilized which has a quasilinear input–output behavior under constant load conditions. Therefore, under a constant load, position control is properly accomplished by a linear PD-controller. In order to use the system in variable load applications such as robot actuators, a multimodel controller is designed based on the PD-controllers. For this purpose, a number of constant loads are considered and corresponding to each load, a linear model is identified and a PD-controller is tuned for the system. Then, a switching algorithm is applied which determines the best model and selects the corresponding controller in any load condition. Also, for the realization of the D-action in PD-controllers, a Kalman filter is designed to observe the velocity instead of direct differentiation of the output position. Experimental results indicate the high performances of the multimodel controller under variable load conditions.

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Authors and Affiliations

  1. Mechanical Eng. Department, K.N.Toosi University of Technology, Tehran, P.O. Box 15875-4416, Iran

    Mostafa Taghizadeh, Farid Najafi & Ali Ghaffari

  2. Energy Eng. Department, Power and Water University of Technology (PWUT), Tehran, P.O. Box 16765-1719, Iran

    Mostafa Taghizadeh

Authors
  1. Mostafa Taghizadeh
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  2. Farid Najafi
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  3. Ali Ghaffari
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Correspondence to Mostafa Taghizadeh.

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Taghizadeh, M., Najafi, F. & Ghaffari, A. Multimodel PD-control of a pneumatic actuator under variable loads. Int J Adv Manuf Technol 48, 655–662 (2010). https://doi.org/10.1007/s00170-009-2293-3

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  • DOI: https://doi.org/10.1007/s00170-009-2293-3

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