Simultaneous Improvement on Transient and Steady State Response Using Standard Rotary Pneumatic Actuator

抄録

Rotary pneumatic actuators are widely used due to their relatively simple design, high speed operation, safe and clean power source and high output to weight ratio. However, due to the inherent nonlinear characteristics of pressure response and high frictional forces, pneumatic system cannot provide the same level of precision and positioning accuracy when compared to electrical actuators. This paper presents a novel compensator-based control system to achieve high accuracy positioning control in rotary pneumatic actuators and experimentally evaluated in different conditions. The results of the experiments proved that we are able to achieve high accuracy of 1/10,000 deg in steady state error. Moreover, the overshoot at transient region is also minimised by 85 percent with feedforward controller further showing the reliability of the positioning control system to be used in critical situations.