The authors present a model-based analysis of a position-velocity-acceleration-controlled pneumatic actuator that indicates that supplementing the pneumatic actuator with mechanical damping can significantly increase the gain margin, tracking accuracy, and disturbance rejection of a closed-loop-controlled pneumatic servoactuator. In order to validate the model-based analysis and purported performance and stability benefits provided by supplemental damping, experiments were performed on a single-degree-of-freedom pneumatic servosystem. Measurements conducted on the experimental setup, which validate the respective improvements in stability margin, tracking accuracy, and disturbance rejection, are described.
Enhanced Performance and Stability in Pneumatic Servosystems With Supplemental Mechanical Damping
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Wait, K. W., and Goldfarb, M. (June 18, 2010). "Enhanced Performance and Stability in Pneumatic Servosystems With Supplemental Mechanical Damping." ASME. J. Dyn. Sys., Meas., Control. July 2010; 132(4): 041012. https://doi.org/10.1115/1.4001796
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