Nonlinear Mathematical Modeling in Pneumatic Servo Position Applications

This paper addresses a new methodology for servo pneumatic actuators mathematical modeling and selection from the dynamic behavior study in engineering applications. The pneumatic actuator is very common in industrial application because it has the following advantages: its maintenance is easy and simple, with relatively low cost, self-cooling properties, good power density (power/dimension rate), fast acting with high accelerations, and installation flexibility. The proposed fifth-order nonlinear mathematical model represents the main characteristics of this nonlinear dynamic system, as servo valve dead zone, air flow-pressure relationship through valve orifice, air compressibility, and friction effects between contact surfaces in actuator seals. Simulation results show the dynamic performance for different pneumatic cylinders in order to see which features contribute to a better behavior of the system. The knowledge of this behavior allows an appropriate choice of pneumatic actuator, mainly contributing to the success of their precise control in several applications