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ZJUS-A
Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering)  2001, Vol. 2 Issue (2): 128-131    DOI: 10.1631/jzus.2001.0128
Science & Engineering     
RESEARCH ON THE CONTINUOUS POSITIONING CONTROL TO SERVO-PNEUMATIC SYSTEM
TAO Guo-liang, WANG Xuan-yin, LU Yong-xiang
The State Key Laboratory of Fluid Power Transmission and Control of Zhejiang University,Hangzhou 310027, China
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Abstract  Pneumatic driven system has been widely used in industrial automation mainly for relatively simply tasks with open-loop control. With regard to closed-loop controlled axes in robotics, servo-electric driven systems have been dominant up to now. This paper introduces a new closed-loop control servo-pneumatic system that can do continuous positioning. The mathematical model of the servo-pneumatic system was developed accurately through analysis of the flow characteristics of the proportional flow valve and the friction of the cylinder. The optimum control strategy with friction compensation is presented in this paper. Experiments demonstrate that the servo-pneumatic system has excellent tracking characteristics and can rival the expensive servo-electric system in many areas of industrial control.

Key words： mathematical model      servo-pneumatic      robot      positioning

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Received: 28 July 2000     
CLC:  TP271.32  
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WANG Xuan-yin
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TAO Guo-liang, WANG Xuan-yin, LU Yong-xiang. RESEARCH ON THE CONTINUOUS POSITIONING CONTROL TO SERVO-PNEUMATIC SYSTEM. Journal of Zhejiang University-SCIENCE A (Applied Physics & Engineering), 2001, 2(2): 128-131.

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