Sage Journals: Discover world-class research

Abstract

In general, air motors have been applied for automation in industry. There are many kinds of air motors used in automation equipment, such as vane air motors, piston air motors, etc. The advantage of the piston air motor is that it is able to provide larger torque at low speed than air vane motors. The aim of the present study was to analyse the behaviour of such a motor, a radial piston air motor mounted on a ball screw table, and to accomplish accurate desired positioning utilizing a backstepping sliding-mode controller. Variation due to compressibility of the air and friction in the mechanism make the overall system non-linear. Two methods were applied to overcome the chattering phenomenon and control the system: the proportional—integral—derivative controller and the backstepping sliding-mode controller. Experimental results showed that the proposed backstepping sliding-mode controller apparently suppresses overshoot and provides accurate positioning performance.

Keywords

radial piston air motors backstepping sliding-mode control

Get full access to this article

View all access options for this article.

References

Richardson

Brown

Bhakta

Levesley

Impedance control for a pneumatic robot-based around pole-placement, joint space controllers. Contr. Engng Pract. 2005, 13(3), 291–303.

Pandian

S. R.

Hayakawa

Kanazawa

Kamoyama

Kawamura

Practical design of a sliding mode controller for pneumatic actuators. J. Dyn. Syst. Meas. Contr. 1997, 119(4), 666–674.

Zhang

Nishi

Low-pressure air motor for wall-climbing robot actuation. Mechatronics 2003, 13(4), 377–392.

Shen

Y. D.

Hwang

Y. R.

Dynamic modeling and controller design for air motor. In Proceedings of 2006 SICE-ICASE International Joint Conference, Busan, South Korea, 18–21 October 2006, pp. 461–466.

Hwang

Y. R.

Shen

Y. D.

Jen

K. K.

Fuzzy MRAC controller design for vane-type air motor systems. J. Mech. Sci. Technol. 2008, 22(3), 497–505.

Wang

Moore

P. R.

Modeling study and servo-control of air motor systems. Int. J. Contr. 1998, 71(3), 459–476.

Song

Ishida

A robust sliding mode control for pneumatic servo systems. Int. J. Engng Sci. , 1997, 35(8), 711–723.

Šitum

Ž.

Žilić

Essert

High speed solenoid valves in pneumatic servo applications. In Proceedings of the 2007 Mediterranean Conference on Control and Automation, Athens, Greece, 27–29, June 2007, pp. 1–6.

Nguyen

Leavitt

Jabbari

Bobrow

J. E.

Accurate sliding-mode control of pneumatic systems using low-cost solenoid valves. IEEE/ASME Trans. Mechatron. 2007, 12(2), 216–219.

10.

Shin

M. C.

C. S.

Fuzzy sliding mode position control of a ball screw driven by pneumatic servomotor. Mechatronics 1995, 5(4), 421–431.

11.

Taghizadeh

Ghaffari

Najafi

Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit. ISA Trans. 2009, 48(4), 512–518.

12.

Tan

Y. L.

Chang

Tan

H. L.

Integral backstepping control and experimental implementation for motion system. In Proceedings of the 2000 IEEE International Conference on Control Applications, Anchorage, Alaska, USA, 25–27 September 2000, pp. 25–27.

13.

Lin

F. J.

Shen

P. H.

Hsu

S. P.

Adaptive backstepping sliding mode control for linear induction motor drive. IEE Proc. Electric Power Applic. 2002, 193(4), 184–194.

14.

Smaoui

Brun

Thomasset

A study on tracking position control of an electropneumatic system using backstepping design. Contr. Engng Pract. 2006, 14(8), 923–933.

Backstepping Sliding-Mode Control for a Pneumatic Control System

Abstract

Keywords

Get full access to this article

References