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Due to the nonlinear and time-varying characteristics, pneumatic servo control systems are difficult to realize real-time path tracking control, especially for the rodless pneumatic cylinder which has relative larger friction force. An asymmetrical vertical load resulting from the gravity makes the motion control in the vertical direction more difficult. This study develops a rodless pneumatic actuator system for the real-time tracking servo control with an asymmetrical vertical load. First, the dynamic models of the rodless pneumatic actuator system will be established and simulated by the Matlab software. Then, the test rig layout will be proposed and experimented under the asymmetrical load via the feedback measurement system. Finally, the experimental results show that a rodless pneumatic actuator system with the asymmetrical vertical load is successfully implemented for the path tracking profile.

The Real-time Tracking Servo Control of a Rodless Pneumatic Actuator System under an Asymmetrical Load via the Feedback Measurement System