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Servo Control of Pneumatic Systems: Fluid Power

Mi Luana

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79 views37 pages

Servo Control of Pneumatic Systems: Fluid Power

Mi Luana

Uploaded by

Mi Luana
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Fluid Power

Servo Control
of Pneumatic Systems

Transparencies
31977-M0

A
FLUID POWER

SERVO CONTROL
OF PNEUMATIC SYSTEMS

by
the Staff
of
Lab-Volt (Quebec) Ltd

Copyright © 2000 Lab-Volt Ltd

All rights reserved. No part of this publication may be reproduced,


in any form or by any means, without the prior written permission
of Lab-Volt Quebec Ltd.

Printed in Canada
December 2004
Figure 1-1. Force control in robotic gripping applications.

Figure 1-2. Schematic diagram of the trainer Servo Control Valve.

1
Figure 1-3. Servo Control Valve supplied with your pneumatic trainer.

Figure 1-4. The SETPOINTS section of the PID Controller.

2
Figure 1-5. Circuit used to determine the pressure versus voltage characteristics of the trainer
Servo Control Valve.

3
Figure 1-6. Output pressure versus control voltage curve of the Servo Control Valve.

Figure 2-1. Voltages at the input and output of a ramp generator.

4
Figure 2-2. The RAMP GENERATOR section of the PID Controller.

Figure 2-3. Ramping of a control voltage.

5
Figure 2-4. Ramp control of a pneumatic cylinder.

Figure 3-1. Open-loop position control system.

6
Figure 3-2. The trainer Signal Conditioners module.

7
Figure 3-3. Sensing the position of a cylinder rod.

8
Figure 3-4. Positioning the cylinder and position transducer on the work surface.

9
Figure 3-5. Open-loop control of cylinder rod position.

10
Figure 4-1. Closed-loop control of cylinder rod position.

Figure 4-2. Positive and negative feedbacks.

11
Figure 4-3. Diagram of a controller operating in the proportional (P) mode.

Figure 4-4. Limiting the excursion of the controller output voltage.

12
Figure 4-5. Typical example of what happens in the proportional control mode when the setpoint
is changed suddenly.

Figure 4-6. Manual reset consists in adding a bias voltage to the proportional controller output
signal.

13
Figure 4-7. Error-versus-controller output relationship for two different gains.

14
Figure 4-8. Proportional (P) control of cylinder rod position.

15
Figure 5-1. Simplified diagram of a controller operating in the integral (I) mode.

Figure 5-2. Controller output signals with positive, negative and null errors.

16
Figure 5-3. Output signal of an integral controller in the open-loop mode when the error changes
suddenly.

Figure 5-4. Effect of increasing the integral gain on the step response of a controlled variable.

17
Figure 5-5. Simplified diagram of a controller operating in the proportional-plus-integral (P.I.)
mode.

Figure 5-6. Example of what happens in a proportional-plus-integral control system when the error
changes suddenly.

18
Figure 5-7. Response to a step change in setpoint with proportional, integral, and proportional-
plus-integral control modes.

19
Figure 5-8. Proportional-plus-integral (P.I.) control of cylinder rod position.

20
Figure 6-1. Open-loop speed control system.

Figure 6-2. The trainer Signal Conditioners.

21
Figure 6-3. Sensing the speed of the trainer Bidirectional Motor.

Figure 6-4. The trainer Proportional Control Valve, Air-Pilot Operated module.

22
Figure 6-5. Photoelectric Switch Positioning.

Figure 6-6. Circuit for lubricating the motor.

23
Figure 6-7. Open-loop speed control system.

24
Figure 6-8. Positioning of the proportional control valve pilot

Figure 7-1. Closed-loop control of actuator speed.

25
Figure 7-2. Output signal of a derivative amplifier when the input signal changes gradually.

26
Figure 7-3. Output signal of a derivative amplifier for two different derivative gains KD.

27
Figure 7-4. Simplified diagram of a controller operating in the proportional-plus-integral-plus-
derivative (P.I.D.) mode.

28
Figure 7-5. Example of what happens in a proportional-plus-integral-plus-derivative system when
the error changes suddenly.

Figure 7-6. Comparison of the proportional, proportional-plus-integral, and proportional-plus-


integral-plus-derivative control modes.

29
Figure 7-7. Simplified diagram of the parallel configuration.

30
Figure 7-8. Proportional-plus-integral-plus-derivative (P.I.D.) control of motor speed.

31
Figure 8-1. Closed-loop pressure control system.

Figure 8-2. Pressure transducer.

32
Figure 8-3. Open-loop control of pressure.

33
Figure 8-4. Closed-loop pressure control.

34
Figure D-1.

35

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