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A Multi-Objective Sliding Mode Approach for the Energy Saving Control of Pneumatic Servo Systems

[+] Author Affiliations
Khalid A. Al-Dakkan, Eric J. Barth, Michael Goldfarb

Vanderbilt University, Nashville, TN

Paper No. IMECE2003-42746, pp. 133-140; 8 pages
  • ASME 2003 International Mechanical Engineering Congress and Exposition
  • Fluid Power Systems and Technology
  • Washington, DC, USA, November 15–21, 2003
  • Conference Sponsors: Fluid Power Systems and Technology Division
  • ISBN: 0-7918-3717-3 | eISBN: 0-7918-4663-6, 0-7918-4664-4, 0-7918-4665-2
  • Copyright © 2003 by ASME


This paper proposes a variation on a sliding mode control approach that provides significant energy savings for the control of pneumatic servo systems. The control methodology is formulated by first decoupling the standard four-way spool valve used for pneumatic servo control into two three-way valves, then using the resulting two control degrees of freedom to simultaneously satisfy both the sliding mode sliding condition and a dynamic constraint that minimizes airflow. The control formulation is presented, followed by experimental results that indicate significant energetic savings with essentially no compromise in tracking performance relative to a standard four-way spool valve approach. Specifically, relative to standard four-way spool valve pneumatic servo actuator control, the experimental results indicate energy saving of 27 to 45%, depending on the desired tracking frequency.

Copyright © 2003 by ASME
Topics: Servomechanisms



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