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The Distributed Parameter Model of an Electro-Pneumatic System Actuated by Pneumatic Artificial Muscles with PWM-Based Position Control

Author

Listed:
  • Lyubov Kotkas

    (The World-Class Research Center “Advanced Digital Technologies”, Peter the Great St. Petersburg Polytechnic University, 195251 Saint Petersburg, Russia)

  • Anatolij Donskoy

    (The World-Class Research Center “Advanced Digital Technologies”, Peter the Great St. Petersburg Polytechnic University, 195251 Saint Petersburg, Russia)

  • Aleksandr Zharkovskii

    (The World-Class Research Center “Advanced Digital Technologies”, Peter the Great St. Petersburg Polytechnic University, 195251 Saint Petersburg, Russia)

  • Nikita Zhurkin

    (The World-Class Research Center “Advanced Digital Technologies”, Peter the Great St. Petersburg Polytechnic University, 195251 Saint Petersburg, Russia)

Abstract

Today, the analysis and synthesis methods of electro-pneumatic systems with position control actuated by pneumatic artificial muscles (PAMs) are quite well known. In these methods, pneumatic artificial muscle is considered as an object with lumped parameters. However, the PAM is an object with distributed parameters, where the pressure, density, and mass flow rate of gas are varied along the bladder length. Thus, in the case of certain design parameters of the pneumatic artificial muscle and certain frequencies of the supply pressure, resonant gas oscillations affected by the wave processes in the bladder may occur. Thereby, in the PWM-driven PAM-actuated system, certain operation frequencies of the control pneumatic valve can cause oscillations of gas in the bladder and in the connected pipeline. These processes could lead to vibrations of the executive device. To solve this practical problem, a distributed parameter model of the PAM that takes into account the pressure fluctuations in the bladder and in the pipeline was elaborated. Also, in this work, a new method in which the wave processes are described by ordinary differential equations instead of partial differential equations was proposed.

Suggested Citation

  • Lyubov Kotkas & Anatolij Donskoy & Aleksandr Zharkovskii & Nikita Zhurkin, 2024. "The Distributed Parameter Model of an Electro-Pneumatic System Actuated by Pneumatic Artificial Muscles with PWM-Based Position Control," Energies, MDPI, vol. 17(14), pages 1-20, July.
    • Handle: RePEc:gam:jeners:v:17:y:2024:i:14:p:3381-:d:1432323
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    References listed on IDEAS

    as
    1. Zhonglin Lin & Qingyan Wei & Runmin Ji & Xianghua Huang & Yuan Yuan & Zhiwen Zhao, 2019. "An Electro-Pneumatic Force Tracking System using Fuzzy Logic Based Volume Flow Control," Energies, MDPI, vol. 12(20), pages 1-21, October.
    2. Richard Kern, 2017. "Physical modelling of a long pneumatic transmission line: models of successively decreasing complexity and their experimental validation," Mathematical and Computer Modelling of Dynamical Systems, Taylor & Francis Journals, vol. 23(5), pages 536-553, September.
    3. J.L. Serres & D.B. Reynolds & C.A. Phillips & M.J. Gerschutz & D.W. Repperger, 2009. "Characterisation of a phenomenological model for commercial pneumatic muscle actuators," Computer Methods in Biomechanics and Biomedical Engineering, Taylor & Francis Journals, vol. 12(4), pages 423-430.
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