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Full text release has been delayed at the author's request until July 01, 2024

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Modeling and Cascade Control of a Pneumatic Actuator Positioning System

Mandali, Anusree
http://orcid.org/0000-0002-4126-9378
http://rave.ohiolink.edu/etdc/view?acc_num=csu1688901036360101

Abstract Details

2023, Doctor of Philosophy in Engineering, Cleveland State University, Washkewicz College of Engineering.
Nowadays, pneumatic systems are widely used in many industrial applications. They are affordable, reliable, and can be operated in a clean environment with minimal maintenance. Despite these advantages, precise control of the piston rod position is challenging due to its highly nonlinear characteristics caused by the compressibility of air, nonlinear air flow through the valve orifices, and nonlinear pressure dynamics. Here the main control objective is to control both the spool displacement and piston rod position precisely. Due to the strong coupling between the spool valve and the actuator, it is important to design the controller based on not only the actuator model but also the spool valve model. The proposed cascade control system consists of inner and outer control loops. The inner loop includes a spool-type servo valve dynamics which is controlled by a linear active disturbance rejection controller (LADRC). The LADRC contains a linear extended state observer (LESO) and a proportional derivative (PD) controller which drives the spool valve to its desired position. The displacement of spool determines the air pressure in both chambers of the actuator. As the actuator is highly nonlinear and complex, a nonlinear active disturbance rejection controller (NADRC) is designed in the outer loop to control the piston rod position. The NADRC is composed of a nonlinear ESO (NESO) and a PD controller. The NESO estimates the generalized disturbance (GD) which includes the system states, external disturbances, and the unknown nonlinear dynamics of the actuator. The PD controller then compensates the generalized disturbance in real-time. The effectiveness of the proposed cascade control system is verified by simulation results. Specifically, the simulation results exhibit the robustness of the proposed controller against both disturbance and system uncertainties. The stabilities of the inner and outer control loops were proved separately using a Lyapunov approach. Additionally, a discrete NADRC consisting of a discrete NESO and discrete feedback controller is implemented on a real pneumatic actuator in Parker Hannifin’s motion control lab. Experimental results demonstrate excellent tracking performance and robustness of the discrete NADRC. Furthermore, the stability of the discrete NADRC is proved using the Lyapunov approach.
Lili Dong (Advisor)
Chansu Yu (Committee Member)
Bogdan Kozul (Other)
Siu-Tung Yau (Committee Member)
Petru Fodor (Committee Member)
Mehdi Rahmati (Committee Member)
116 p.
Electrical Engineering
Pneumatic position control; LADRC; NADRC; Disturbance rejection; NESO; Stability proof; Discrete NADRC; Lyapunov method

Recommended Citations

Citations

  • Mandali, A. (2023). Modeling and Cascade Control of a Pneumatic Actuator Positioning System [Doctoral dissertation, Cleveland State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=csu1688901036360101

    APA Style (7th edition)

  • Mandali, Anusree. Modeling and Cascade Control of a Pneumatic Actuator Positioning System. 2023. Cleveland State University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=csu1688901036360101.

    MLA Style (8th edition)

  • Mandali, Anusree. "Modeling and Cascade Control of a Pneumatic Actuator Positioning System." Doctoral dissertation, Cleveland State University, 2023. http://rave.ohiolink.edu/etdc/view?acc_num=csu1688901036360101

    Chicago Manual of Style (17th edition)

csu1688901036360101
© 2023, all rights reserved.
This open access ETD is published by Cleveland State University and OhioLINK.