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Simulation and selection schemes for real-time control of a pneumatic cylinder
Linköping University, Department of Mechanical Engineering, Fluid and Mechanical Engineering Systems. Linköping University, The Institute of Technology.
Linköping University, Department of Mechanical Engineering, Fluid and Mechanical Engineering Systems. Linköping University, The Institute of Technology.
2003 (English)In: The Bath Workshop on Power Transmission & Motion Control, PTMC' 03 / [ed] C. R. Burrows & K. A. Edge, London, Bury St Edmunds, UK: Professional Engineering Publishing , 2003, 307-318 p.Conference paper, Published paper (Other academic)
Abstract [en]

Simulation techniques are used in this project to predict the dynamic behaviour of a rod-less pneumatic cylinder in real-time. This forms a controller for position control of the cylinder using selection and optimisation methods based on simulation results. This paper reports on the current state of ongoing research, emphasising extending the use of simulation techniques within real-time applications. A test setup is presented with a pneumatic cylinder controlled by four 3/2 on/off valves. The valves form a modulating energy input to the cylinder. The valve switch timing is established by short simulations of different possible scenarios. A selection scheme is then applied and the most suitable simulation forms the control signals for the valves. Experimental results together with the corresponding simulations are presented.

The presented setup uses the real-time operating system Linux/RTAI to host the simulation, selection and control software.

Place, publisher, year, edition, pages
London, Bury St Edmunds, UK: Professional Engineering Publishing , 2003. 307-318 p.
Keyword [en]
Pneumatic, simulation, selection scheme, control, real-time
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-24282Local ID: 3898OAI: oai:DiVA.org:liu-24282DiVA: diva2:244599
Conference
The Bath Workshop on Power Transmission & Motion Control, PTMC' 03, Bath, United Kingdom, 10th-12th September, 2003
Available from: 2009-10-07 Created: 2009-10-07 Last updated: 2013-11-21
In thesis
1. Selection schemes and neural networks in adaptive real-time control: predictive simulation adaptive control
Open this publication in new window or tab >>Selection schemes and neural networks in adaptive real-time control: predictive simulation adaptive control
2005 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

The vision of self-aware machines was the starting point of this work. The idea is a machine having knowledge about itself and its surrounding environment, being able to react to changes in the environment. To support this vision, a number of engineering disciplines need to be merged and the control strategy "predictive simulation adaptive control'', PSAC, developed.

The focus of the thesis is the synthesis of a number of algorithms and ideas from different engineering disciplines and fields. The main disciplines that the work is based on are simulation techniques, selection schemes and neural networks; all of these combined with the constraints imposed by the real-time demands of control systems.

Selection schemes, or optimisation algorithms, are introduced here and used directly for real-time control of the test system, a rod-less pneumatic cylinder. The selection process is primarily based on genetic algorithms and the outcome of numerous simulations of the system for different possible control signals.

Neural networks in general, and the version used here in particular, the Kohonen self-organising map, is widely used for classification and storage of information. Here it is used first to approximate friction in a rod-less pneumatic cylinder, and later on, possible ways to utilise this technique for condition monitoring are briefly discussed.

Real-time systems and programming are a necessity when designing modern control systems. From the real-time constraints, special demands are put on the implemented algorithms and ideas.

By bringing all this together, piece by piece, the vision comes a little bit closer. One step on the path, is the PSAC control concept proposed here. The control concept is successfully implemented and tested on a position servo consisting of a pneumatic rod-less cylinder controlled by on/off-valves.

Place, publisher, year, edition, pages
Linköping: Linköpings universitet, 2005. 62 p.
Series
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1187
Keyword
Adaptive Control, Real-Time, Self-Organizing Feature Maps, Pneumatic, Neural Networks, Evolutionary Algorithms
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-29324 (URN)14645 (Local ID)91-85457-11-6 (ISBN)14645 (Archive number)14645 (OAI)
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2013-11-21

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Zachrison, AndersSethson, Magnus

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