UNIV. NEWS. NORTH-CAUCAS. REG. TECHNICAL SCIENCES SERIES. 2016; 2: 15-20
http://dx.doi.org/10.17213/0321-2653-2016-2-15-20
ADAPTIVE ELECTRO - PNEUMATIC MODULE TO CONTROL THE TECHNOLOGICAL EQUIPMENT AND ROBOTS WITH PNEUMO-ACTUATOR
Glebov Nikolay Alexeevich – Doctor of Technical Sciences, professor, department «Mechatronics and Hydropneumoautomatics», Platov South-Russian State Polytechnic University (NPI), Novocherkassk, Russia. Ph. (8635)25-52-46. E-mail: aprim.srstu@mail.ru
AL Gburi Wisam Essmat Abdul Latiff – post-graduate student, department «Mechatronics and Hydropneumoautomatics», Platov South-Russian State Polytechnic University (NPI), Novocherkassk, Russia. Ph. (8635)25-52-46. E-mail: aprim. srstu@mail.ru
Abstract
Is examined the task of development and research of the electro-pneumatic module of control systems by technological equipment and by robots with pneumo-actuator. Because the poor damping and large nonlinearity of the air which due to the mechanical friction and high compressibility of air, for this reason the application of adaptive control pneumatic systems. Adaptive control of electro- pneumatic module is based on the use of fuzzy logic. Presents the equations of motion of the piston of the air cylinder, the rate of change of pressure in the cylinder chamber and the mass flow. The results of mathematical modeling of robot control system pneumatically are presented. Based on the investigations ostentatious efficiency adaptive electro modules for control of equipment and pneumatic robots.
Keywords: technological equipment; robot; pneumo-actuator; electro-pneumatic module; fuzzy logic; modeling, membership functions.
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