Diseño de un Control Regulador para un Sistema de Servo-Posicionamiento Neumático

Pneumatic actuators are low-cost, safe, clean, and exhibit a high power-to-weight ratio. This contribution presents a novel control strategy to solve the regulation problem of pneumatic servo positioning systems that cope with the nonlinearities of the system: airflow-pressure relationship through valve orifice and friction effects between contact surfaces in actuator seals, by considering the position, velocity and pressure difference in the chambers of the pneumatic cylinder, as feedback states instead of position, velocity and acceleration (PVA) as in the most common controllers found in literature. Experiments are conducted with a 25-mm bore rod-less pneumatic cylinder and a 5/3-way proportional control valve. To highlight the efficiency and applicability of the proposed control schemes, simulation, as well as experimental results are provided and discussed. The experimental and simulated results from the regulation control strategy proposed, prove that high-positioning performance and symmetrical responses in forward and backward motion are achieved.