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Titolo:
COMPARISON BETWEEN LINEAR AND NONLINEAR CONTROL OF AN ELECTROPNEUMATIC SERVODRIVE
Autore:
RICHARD E; SCAVARDA S;
Indirizzi:
INST NATL SCI APPL,LAB AUTOMAT,IND BAT 303,20 AVE A EINSTEIN F-69621 VILLEURBANNE FRANCE
Titolo Testata:
Journal of dynamic systems, measurement, and control
fascicolo: 2, volume: 118, anno: 1996,
pagine: 245 - 252
SICI:
0022-0434(1996)118:2<245:CBLANC>2.0.ZU;2-L
Fonte:
ISI
Lingua:
ENG
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Science Citation Index Expanded
Citazioni:
25
Recensione:
Indirizzi per estratti:
Citazione:
E. Richard e S. Scavarda, "COMPARISON BETWEEN LINEAR AND NONLINEAR CONTROL OF AN ELECTROPNEUMATIC SERVODRIVE", Journal of dynamic systems, measurement, and control, 118(2), 1996, pp. 245-252

Abstract

In the robotics field control laws taking into account the nonlinearities caused by the mechanical structure have been proposed assuming that the drive system is linear These control laws are well-adapted to the case of electric actuators. Electrohydraulics or electropneumatics drive systems introduce other nonlinearities coming both from the servovalve. and the actuator In most cases these nonlinearities ave neglected and the control laws usually used for these drive system are basedon a reduced third-order model obtained by a tangent linearization. Amore satisfying solution is to introduce the nonlinearities of the drive system in the control law. This paper deals with the nonlinear control of an electropneumatic servodrive and is based on the nonlinear control theory in continuous time. It takes into account the main specific nonlinearities. The proposed control law consists of an exact input-output linearization via a static nonlinear state feedback In our case, this control law leads to a one-dimensional unobservable subspace in closed-loop. A physical interpretation of this nonlinear control isgiven. This interpretation enables us to improve the understanding ofthe behavior of an electropneumatic servodrive. In order to compare the results obtained from an experimental device, the synthesis of a linear control law in discrete and continuous dime is presented. A studyin discrete time of the root locus versus position of the closed loopsystem with the linear control law, shows oscillations in the neighbourhood of the end of the actuator stroke. The experimental results confirm this fact. With nonlinear control these oscillations are suppressed.

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Documento generato il 05/04/20 alle ore 23:11:25