Implementation of Decoupled Model-Based Controller in a 2-DOF Pneumatic Platform Used in Low-Cost Driving Simulators
This study presents a solution for the control of a 2-DOF platform with two electro-pneumatic actuators. This solution is currently used by the SIMPRO Company in low-cost driving simulators. The control of a pneumatic servo system is a complex task due to the highly non-linear dynamics of the electr...
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| creator | Guerra, Jorge A. Hernendez, S. Luis Ernesto Rubio, R. Rafael Aracil, S. Roque Saltaren, P. |
| description | This study presents a solution for the control of a 2-DOF platform with two electro-pneumatic actuators. This solution is currently used by the SIMPRO Company in low-cost driving simulators. The control of a pneumatic servo system is a complex task due to the highly non-linear dynamics of the electro-pneumatic actuators; furthermore the multivariable character of the multi-DOF system complicates the problem. First, the dynamic description of the actuators, analytically or by experimental identification, considering its dependence from the piston position, is obtained. From this model, a linear controller is synthesized by pole placement, performance indexes with a high disturbance rejection are established, as well as the capacity for tracking to a ramp-type reference with a low settling time. The synthesis method of the controller is applied to the 2-DOF pneumatic platform in a decoupled manner for each actuator. The whole solution is then implemented in an embedded controller showing adequate performance. |
| doi_str_mv | 10.1109/CERMA.2009.22 |
| format | Conference Proceeding |
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Luis ; Ernesto Rubio, R. ; Rafael Aracil, S. ; Roque Saltaren, P.</creator><creatorcontrib>Guerra, Jorge A. ; Hernendez, S. Luis ; Ernesto Rubio, R. ; Rafael Aracil, S. ; Roque Saltaren, P.</creatorcontrib><description>This study presents a solution for the control of a 2-DOF platform with two electro-pneumatic actuators. This solution is currently used by the SIMPRO Company in low-cost driving simulators. The control of a pneumatic servo system is a complex task due to the highly non-linear dynamics of the electro-pneumatic actuators; furthermore the multivariable character of the multi-DOF system complicates the problem. First, the dynamic description of the actuators, analytically or by experimental identification, considering its dependence from the piston position, is obtained. From this model, a linear controller is synthesized by pole placement, performance indexes with a high disturbance rejection are established, as well as the capacity for tracking to a ramp-type reference with a low settling time. The synthesis method of the controller is applied to the 2-DOF pneumatic platform in a decoupled manner for each actuator. 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First, the dynamic description of the actuators, analytically or by experimental identification, considering its dependence from the piston position, is obtained. From this model, a linear controller is synthesized by pole placement, performance indexes with a high disturbance rejection are established, as well as the capacity for tracking to a ramp-type reference with a low settling time. The synthesis method of the controller is applied to the 2-DOF pneumatic platform in a decoupled manner for each actuator. The whole solution is then implemented in an embedded controller showing adequate performance.</description><subject>Centralized control</subject><subject>Control system synthesis</subject><subject>Control systems</subject><subject>embedded systems</subject><subject>model-based control</subject><subject>Nonlinear control systems</subject><subject>Nonlinear dynamical systems</subject><subject>Pistons</subject><subject>Pneumatic actuators</subject><subject>Pneumatic systems</subject><subject>Servomechanisms</subject><subject>Sliding mode control</subject><subject>State feedback</subject><isbn>9780769537993</isbn><isbn>0769537995</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2009</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotjE9PwkAQxTcxJCpy9ORlv0Bx_3S6zBELKAkEonIm23Zq1rRdsl00fntL9F3e5L3fPMbupZhKKfAxX75u51MlBE6VumITNDNhMgRtEPWI3V4aFIASr9mk7z_FIFAZGn3D4ro9NdRSF210vuO-5gsq_XkIK771FTXJk-2HO_ddDL5pKHDXcctVstit-L6jczt8lnzf2Fj70PLDhR6Qjf9Oct9Hvgjuy3Uf_M215wHyob9jo9o2PU3-fcwOq-V7_pJsds_rfL5JnDQQE2mBUkxFgULNoFRSaZCQmZpEVSsEqwvQNWFFVVGaQpalLbEyqRAFgVWgx-zhb9cR0fEUXGvDzxF0KjED_QuwMFvz</recordid><startdate>200909</startdate><enddate>200909</enddate><creator>Guerra, Jorge A.</creator><creator>Hernendez, S. 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Luis</creatorcontrib><creatorcontrib>Ernesto Rubio, R.</creatorcontrib><creatorcontrib>Rafael Aracil, S.</creatorcontrib><creatorcontrib>Roque Saltaren, P.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Guerra, Jorge A.</au><au>Hernendez, S. 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First, the dynamic description of the actuators, analytically or by experimental identification, considering its dependence from the piston position, is obtained. From this model, a linear controller is synthesized by pole placement, performance indexes with a high disturbance rejection are established, as well as the capacity for tracking to a ramp-type reference with a low settling time. The synthesis method of the controller is applied to the 2-DOF pneumatic platform in a decoupled manner for each actuator. The whole solution is then implemented in an embedded controller showing adequate performance.</abstract><pub>IEEE</pub><doi>10.1109/CERMA.2009.22</doi><tpages>6</tpages></addata></record> |
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| ispartof | 2009 Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2009, p.338-343 |
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| subjects | Centralized control Control system synthesis Control systems embedded systems model-based control Nonlinear control systems Nonlinear dynamical systems Pistons Pneumatic actuators Pneumatic systems Servomechanisms Sliding mode control State feedback |
| title | Implementation of Decoupled Model-Based Controller in a 2-DOF Pneumatic Platform Used in Low-Cost Driving Simulators |
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