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Modeling and Adaptive Robust Posture Control of 3-RPS Pneumatic Parallel Platform

[+] Author Affiliations
Ce Shang, Guoliang Tao, He Zuo

Zhejiang University, Hangzhou, Zhejiang, China

Deyuan Meng

China University of Mining and Technology, Xuzhou, Jiangsu, China

Paper No. DETC2015-46427, pp. V05CT08A019; 10 pages
doi:10.1115/DETC2015-46427
From:
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME

abstract

Due to the compressibility, nonlinear characteristic and parameters uncertainty, the position control of a pneumatic cylinder or parallel platform is still very difficult while compared with the electro-driven ones. In this paper, the dynamic model of a single proportional value controlled pneumatic cylinder is established. In order to reduce the affection of the parameters uncertainty, the online parameters estimation is adopted into the controller design. Based on the NI CompactRio hardware and Veristand platform, the algorithm is realized to the physical system successfully. The position error is generally lower than 1%. Then, the algorithm is expanded to the problem for the 3-RPS pneumatic parallel platform. The Lyapunov’s method is used to prove the effectiveness of controller and the experiment results show that the posture error of the platform can be as low as 0.5%. By using this approach, the pneumatic ones can be much more competitive and valuable in the industrial market of position or posture control.

Copyright © 2015 by ASME

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