Control design of a pneumatic cylinder with distributed model of pipelines

In this paper, the control design with distributed model of pipelines is proposed to make the cylinder side be free of pressure sensors. In this research, long connected pipelines are used. The pipeline is designed as a one dimensional distributed model. The model of pipelines is based on the discretization of four equations, as state equation of air, motion equation, continuity equation, and energy equation. The distributed model estimates the pressure losses and time delay through long connected pipelines in real time. To confirm the control method with distributed model of pipelines, a simulation model of the whole system is designed. Compared simulation and experimental results, it has been found that the model represents the real system well. In the experiments, the pressure values in the cylinder chambers estimated by the distributed model in real time played as control signals. Compared with the estimated and measured pressure values in the cylinder chambers, it is found that with this distributed model, the pressure values in the cylinder chambers is precisely estimated in real time using the measured values at the control ports of the servo valve. The experimental results demonstrate that the position accuracy is almost the same with that of using the measured pressure signals in the cylinder chambers. The cylinder side is free of pressure sensors with the proposed control method.