Modelling and Controller Design of Electro-Pneumatic Actuator Based on PWM

Behrouz Najjari, S. Masoud Barakati, Ali Mohammadi, Mohammad Javad Fotuhi, Saeid Farahat, Mohammad Bostanian,

IAES International Journal of Robotics and Automation (IJRA), Vol 1, No 3: September 2012 , pp. 125-136

Abstract

In this paper, a nonlinear model associated to the fast switching on-off solenoid valve and pneumatic cylinder was dynamically presented. Furthermore, an investigation into the electrical, magnetic, mechanical and fluid subsystems are made. Twocommon control policies to track valve position, a Proportional Integrator (PI) based on Pulse Width Modulation (PWM) and hysteresis controllers, are investigated. To control cylinder position, a Programmable Logic Controller (PLC) on a simulated unit and an experimental setup regulated with AVR microcontroller are carried out. Experimental results show effective validation to the simulation results from PLC. DOI: http://dx.doi.org/10.11591/ijra.v1i3.565