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1、INTERNATIONALJOURNALONSMARTSENSINGANDINTELLIGENTSYSTEMS,VOL.5,NO.3,SEPTEMBER2012MODELINGANDCONTROLLERDESIGNOFPNEUMATICACTUATORSYSTEMWITHCONTROLVALVEW.K.Lai,M.F.Rahmat*andN.AbdulWahabDepartmentofControlandInstrumentation,FacultyofElectricalEngineeringUniversitiTekn
2、ologiMalaysia,81310Skudai,MalaysiaEmail:wklai1988@gmail.com,fuaad@fke.utm.my,aliza@fke.utm.my*Correspondentauthor:M.F.Rahmat,fuaad@fke.utm.mySubmitted:June30,2012Accepted:Aug.4,2012Published:Sep.1,2012Abstract-Pneumaticactuatorsofferseveraladvantagesoverelectromec
3、hanicalandhydraulicactuatorsforpositioningapplications.Nonetheless,pneumaticactuatorsaresubjecttohighfrictionforces,deadbandanddeadtime,whichmakefastandaccuratepositioncontroldifficulttoachieve.Thisresearchpaperpresentstheprocessofcontrolleridentification,design,m
4、odelingandcontrolforpneumaticactuatorsystem.SystemIdentificationapproachisusedwiththepurposetoestimatethemathematicalmodelofpneumaticactuatorsystemandforcontrollerdesign.Datacollectionofinputandoutputsignalofthesystemhasbeenperformedfromexperimentprocedure.Thisdat
5、aisusedforestimatethemodelbyselectingAuto-RegressiveExogenous(ARX)modelasamodelstructure.Theacceptedmodelisbasedvalidationtestnamelyasresidualcorrelation,AkaikeFinalPredictionErrorandbestfitpercentage.DifferentcontrolschemessuchasPIDandLQR(LinearQuadraticRegulator
6、)havebeenappliedforcontrollerdesign.PIDcontrollerswithZieglerNicholstuningareenabledtoprovidegoodperformanceinvarioussystems.TheeffectsofTustintransformation,zeroorderholdanddiscretemodelaretestedinPIDcontrollerdesigned.Themethodologyforthispapercombinesoff-linemo
7、del624W.K.Lai,M.F.RahmatandN.AbdulWahab,ModelingandControllerDesignofPneumaticActuatorSystemwithControlValvebasedonanalysiswithon-lineiteration.Differentexternalloadsareaddedinordertoinvestigatetheeffectivenesstothedesignedcontrollersinrealtimesystem.Thetrackingpe
8、rformanceoftheclosedloopsystemissatisfiedwhichoffersconsiderablerobustnessevenonaslightincreaseinload.Theresultsobtainedintheexperimentaresuccessfultopr
