Real-time position control of intelligent pneumatic actuator (IPA) system using optical encoder and pressure sensor

Abstract

Purpose

Intelligent pneumatic actuator (IPA) is a new generation of actuator developed for Research and Development (R&D) purposes in the academic and industrial fields. The purpose of this paper is to show the application of optical encoder and pressure sensor in IPA, to develop a real-time model similar to the existing devices, and to assess the position control performance using a proportional-integrative (PI) controller and a bang-bang controller in real-time.

Design/methodology/approach

A micro optical encoder chip is used to detect cylinder rod position by reading constructed laser stripes on a guide rod, whereas a pressure sensor is used to detect the chamber pressure reading. To control the cylinder movements by manipulating pulse-width modulation (PWM) cycles, two unit valves of two ports and two positions were used. A PI controller and a bang-bang controller are used with suitable gain value to drive the valve using PWM to achieve the target actuator position.

Findings

The results show the experimental results of the closed-loop position tracking performance of the system using a data acquisition (DAQ) card over MATLAB software.

Originality/value

This paper presents a real-time model used to replace the microcontroller-based system from previous IPA design. The paper proposes two control strategies, PI and bang-bang, to control position using encoder and pressure reading.

Citation

‘Athif Mohd Faudzi, A., Osman, K., Fua'ad Rahmat, M., Suzumori, K., Din Mustafa, N. and Asyraf Azman, M. (2013), "Real-time position control of intelligent pneumatic actuator (IPA) system using optical encoder and pressure sensor", Sensor Review, Vol. 33 No. 4, pp. 341-351. https://doi.org/10.1108/SR-09-2012-692