Design of a Pressure Observer and its Application to a Low-Cost Pneumatic Control System

Takahiro Kosaki; Manabu Sano

doi:10.20965/ijat.2011.p0493

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IJAT Vol.5 No.4 pp. 493-501

doi: 10.20965/ijat.2011.p0493

(2011)

Paper:

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Design of a Pressure Observer and its Application to a Low-Cost Pneumatic Control System

Takahiro Kosaki and Manabu Sano

Department of Systems Engineering, Hiroshima City University, 3-4-1 Ozuka-higashi, Asaminami-ku, Hiroshima 731-3194, Japan

Received:

January 21, 2011

Accepted:

March 28, 2011

Published:

July 5, 2011

Keywords:

pneumatic systems, pressure observers, position control, stiffness control

Abstract

The nonlinear pressure observer this paper presents for pneumatic systems and observer-based approaches for controlling position and stiffness eliminate the need for pressure and force sensors. The observer estimates pressure in the pneumatic actuator chamber, acting instead of a sensor in a pressure-feedbackbased system. Conventional single-loop controllers are inadequate for pneumatic actuators because such actuators have high nonlinearities such as air compressibility and friction. Most advanced controllers providing better performance require full-state feedback, and using sensors to acquire data makes pneumatic control systems less cost-competitive than electric control systems. Combining our proposed pressure observer with other observers enables a position and stiffness control system to be designed for a two degree-of-freedom pneumatic manipulator. Force caused in contact between the manipulator and an external object can be obtained without using force sensors. Experimental results show that our observerbased approach reduces cost, enables high estimation performance, and ensures high control accuracy.

Cite this article as:

T. Kosaki and M. Sano, “Design of a Pressure Observer and its Application to a Low-Cost Pneumatic Control System,” Int. J. Automation Technol., Vol.5 No.4, pp. 493-501, 2011.

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References

[1] T. Kosaki and M. Sano, “An observer-based friction compensation technique for positioning control of a pneumatic servo system,” J. of System Design and Dynamics, 3-1, pp. 37-46, 2009.
[2] B. Friedland and Y.-J. Park, “On adaptive friction compensation,” IEEE Trans. on Automatic Control, 37-10, pp. 1609-1612, 1992.
[3] J. Amin, B. Friedland, and A. Harnoy, “Implementation of a friction estimation and compensation technique,” IEEE Control Systems Magazine, 17-4, pp. 71-76, 1997.
[4] S. Tafazoli, C.W. de Silva, and P. D. Lawrence, “Tracking control of an electrohydraulic manipulator,” IEEE Trans. on Control Systems Technology, 6-3, pp. 401-411, 1998.
[5] J. Wu, M. Goldfarb, and E. Barth, “On the observability of pressure in a pneumatic servo actuator,” ASME J. of Dynamic Systems, Measurement, and Control, 126, pp. 921-924, 2004.
[6] P. Bigras and K. Khayati, “Nonlinear observer for pneumatic system with non negligible connection port restriction,” Proc. of the American Control Conference, pp. 3191-3195, 2002.
[7] S. R. Pandian, F. Takemura, Y. Hayakawa, and S. Kawamura, “Pressure observer-controller design for pneumatic cylinder actuators,” IEEE/ASME Trans. on Mechatronics, 7-4, pp. 490-499, 2002.
[8] N. Gulati and E. J. Barth, “Non-linear pressure observer design for pneumatic actuators,” Proc. of the IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 783-788, 2005.
[9] N. Gulati and E. J. Barth, “Pressure observer based servo control of pneumatic actuators,” Proc. of the IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 498-503, 2005.
[10] M. Takaiwa and T. Noritsugu, “Development of pneumatic human interface and its application to compliance display,” J. of Robotics and Mechatronics, 13-5, pp. 472-478, 2001.
[11] T. Murakami, F. Yu, and K. Ohnishi, “A dynamical approach to force control without force sensor,” Proc. of the IMACS/SICE Int. Symposium on Robotics, Mechatronics and Manufacturing Systems, pp. 1361-1366, 1992.
[12] K. Ohishi, M. Miyazaki, M. Fujita, and Y. Ogino, “Force control without force sensor based on mixed sensitivity H_∞ design method,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 1356-1361, 1992.
[13] J. L. Shearer, “Study of pneumatic processes in the continuous control of motion with compressed Air-I,” Trans. of the ASME, 78, pp. 233-242, 1956.
[14] J. E. Bobrow and B. W. McDonell, “Modeling, identification, and control of a pneumatically actuated, force controllable robot,” IEEE Trans. on Robotics and Automation, 14-5, pp. 732-742, 1998.
[15] S. Kawamura, K. Miyata, H. Hanafusa, and K. Ishida, “PI type hierarchical feedback control scheme for pneumatic robots,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 1853-1858, 1989.
[16] T. Noritsugu and M. Takaiwa, “Robust positioning control of pneumatic servo system with pressure control loop,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 2613-2618, 1995.
[17] G. Alici, “Determination of singularity contours for five-bar planar parallel manipulators,” Robotica, 18, pp. 569-575, 2000.
[18] G. Alici, “An inverse position analysis of five-bar planar parallel manipulators,” Robotica, 20, pp. 195-201, 2002.
[19] K. J. Åström and T. Hägglund, “Advanced PID control,” Research Triangle Park, NC: ISA, 2005.
[20] M. Kaneko, N. Imamura, K. Yokoi, and K. Tanie, “Direct compliance control of manipulator arms-Basic concept and application examples,” IFAC Robot Control, pp. 365-370, 1988.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Kosaki and M. Sano, “An observer-based friction compensation technique for positioning control of a pneumatic servo system,” J. of System Design and Dynamics, 3-1, pp. 37-46, 2009.

[2] [2] B. Friedland and Y.-J. Park, “On adaptive friction compensation,” IEEE Trans. on Automatic Control, 37-10, pp. 1609-1612, 1992.

[3] [3] J. Amin, B. Friedland, and A. Harnoy, “Implementation of a friction estimation and compensation technique,” IEEE Control Systems Magazine, 17-4, pp. 71-76, 1997.

[4] [4] S. Tafazoli, C.W. de Silva, and P. D. Lawrence, “Tracking control of an electrohydraulic manipulator,” IEEE Trans. on Control Systems Technology, 6-3, pp. 401-411, 1998.

[5] [5] J. Wu, M. Goldfarb, and E. Barth, “On the observability of pressure in a pneumatic servo actuator,” ASME J. of Dynamic Systems, Measurement, and Control, 126, pp. 921-924, 2004.

[6] [6] P. Bigras and K. Khayati, “Nonlinear observer for pneumatic system with non negligible connection port restriction,” Proc. of the American Control Conference, pp. 3191-3195, 2002.

[7] [7] S. R. Pandian, F. Takemura, Y. Hayakawa, and S. Kawamura, “Pressure observer-controller design for pneumatic cylinder actuators,” IEEE/ASME Trans. on Mechatronics, 7-4, pp. 490-499, 2002.

[8] [8] N. Gulati and E. J. Barth, “Non-linear pressure observer design for pneumatic actuators,” Proc. of the IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 783-788, 2005.

[9] [9] N. Gulati and E. J. Barth, “Pressure observer based servo control of pneumatic actuators,” Proc. of the IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 498-503, 2005.

[10] [10] M. Takaiwa and T. Noritsugu, “Development of pneumatic human interface and its application to compliance display,” J. of Robotics and Mechatronics, 13-5, pp. 472-478, 2001.

[11] [11] T. Murakami, F. Yu, and K. Ohnishi, “A dynamical approach to force control without force sensor,” Proc. of the IMACS/SICE Int. Symposium on Robotics, Mechatronics and Manufacturing Systems, pp. 1361-1366, 1992.

[12] [12] K. Ohishi, M. Miyazaki, M. Fujita, and Y. Ogino, “Force control without force sensor based on mixed sensitivity H_∞ design method,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 1356-1361, 1992.

[13] [13] J. L. Shearer, “Study of pneumatic processes in the continuous control of motion with compressed Air-I,” Trans. of the ASME, 78, pp. 233-242, 1956.

[14] [14] J. E. Bobrow and B. W. McDonell, “Modeling, identification, and control of a pneumatically actuated, force controllable robot,” IEEE Trans. on Robotics and Automation, 14-5, pp. 732-742, 1998.

[15] [15] S. Kawamura, K. Miyata, H. Hanafusa, and K. Ishida, “PI type hierarchical feedback control scheme for pneumatic robots,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 1853-1858, 1989.

[16] [16] T. Noritsugu and M. Takaiwa, “Robust positioning control of pneumatic servo system with pressure control loop,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 2613-2618, 1995.

[17] [17] G. Alici, “Determination of singularity contours for five-bar planar parallel manipulators,” Robotica, 18, pp. 569-575, 2000.

[18] [18] G. Alici, “An inverse position analysis of five-bar planar parallel manipulators,” Robotica, 20, pp. 195-201, 2002.

[19] [19] K. J. Åström and T. Hägglund, “Advanced PID control,” Research Triangle Park, NC: ISA, 2005.

[20] [20] M. Kaneko, N. Imamura, K. Yokoi, and K. Tanie, “Direct compliance control of manipulator arms-Basic concept and application examples,” IFAC Robot Control, pp. 365-370, 1988.