Control of an electropneumatic actuator: comparison between some linear and non-linear control laws

Xavier Brun (1) , M. Belgharbi (1) , Sylvie Sesmat (1) , Daniel Thomasset (1) , Serge Scavarda (1)

1 LAI - Laboratoire d'Automatique Industrielle

The aim of this paper is to present and to compare some linear and non-linear control laws for an electropneumatic positioning system both for point-to-point control and for tracking control. The experimental results are presented in terms of repeatability for each control law implemented on the same device: an in-line electropneumatic servo-drive. Different kinds of model, namely a non-linear affine model, linearized tangent model and a reduced linearized tangent model, are presented to synthesize the different control laws. For this a new mathematical modelling of the servo-distributor flow stage is described.

Mots clés: ELECTROHYDRAULIC SERVO-MECHANISM; Fluid Power; Pneumatics; Modelling; Control; Industrial application

Domaines: Automatique / Robotique

Xavier Brun, M. Belgharbi, Sylvie Sesmat, Daniel Thomasset, Serge Scavarda. Control of an electropneumatic actuator: comparison between some linear and non-linear control laws. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 1999, 213 (5), pp.387-406. ⟨10.1243/0959651991540232⟩. ⟨hal-00141155⟩