Pneumatic cylinders : modelling and feedback force-control

Ilchmann, Achim GND; Sawodny, Oliver GND; Trenn, Stephan GND

In this paper, we model, analyse, and control an experimental set-up of a servo pneumatic cylinder. The dynamic behaviour of pneumatic actuator systems is dominant by non-linear functions. First, a mathematical model for the pneumatic system is derived. Secondly, we investigate the mathematical properties of this model and show boundedness and positiveness of certain variables. Thirdly, we prove that a proportional output feedback controller with saturation achieves practical tracking a wide class of reference trajectories. We verify the theoretical results and the effectiveness of the control by experiments.

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Ilchmann, Achim / Sawodny, Oliver / Trenn, Stephan: Pneumatic cylinders. modelling and feedback force-control. 2006.

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