Naslov
Teaching control using mechatronic systems with pneumatic drive

Autori
Šitum, Željko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Zbornik prispevkov Mednarodne konference Fluidna tehnika 2011 / Lovrec, Darko ; Tič, Vito - Maribor : Tisk Žnidarič, Kranj, 2011, 311-330

ISBN
978-961-248-290-9

Skup
Fluidna tehnika 2011

Mjesto i datum
Maribor, Slovenija, 15.09.2011. - 16.09.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
pneumatic drive; balancing mechanism; fluidic muscle; experiment

Sažetak
The paper presents several experimental systems with pneumatic drive, which have been designed as test models in the field of fluid power systems and feedback control education of mechanical engineering students. Feedback control is one of the most theoretical and mathematically complex engineering subjects and therefore it is of particular importance to demonstrate such abstract concepts using familiar, but interesting physical systems. The paper first reviews different strategies to control the position of pneumatic actuator using various types of valves such as: proportional directional control valves, proportional pressure valves and on-off solenoid valves. Then the paper focuses on three balancing mechanisms driven by pneumatics which are used as experimental systems for the explanation of the effectiveness of advanced control techniques. These balancing mechanisms are the inverted pendulum, the inverted wedge and the ball and beam system, that fall into a category of unstable systems with highly nonlinear dynamics, under- actuated, multivariable systems with non-minimum phase characteristic. The particularity of these balancing mechanisms is their pneumatic drive, which makes them more interesting for education and offers great opportunities to learn design in a mechatronic way. The final section of the article presents an experimental system with pneumatic muscles as actuators that enable some new features of the controlled systems. The paper is accompanied with the typical experimental results obtained during the testing process.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

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