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http://hdl.handle.net/11375/11890
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DC Field | Value | Language |
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dc.contributor.advisor | Bone, Gary M. | en_US |
dc.contributor.author | Xing, Chen | en_US |
dc.date.accessioned | 2014-06-18T16:57:23Z | - |
dc.date.available | 2014-06-18T16:57:23Z | - |
dc.date.created | 2012-02-05 | en_US |
dc.date.issued | 2012-04 | en_US |
dc.identifier.other | opendissertations/6822 | en_US |
dc.identifier.other | 7843 | en_US |
dc.identifier.other | 2495712 | en_US |
dc.identifier.uri | http://hdl.handle.net/11375/11890 | - |
dc.description.abstract | This thesis presents the development of a novel hybrid pneumatic-electric actuator which combines the advantages of both pneumatic and electrical actuator. The hybrid actuator consists of a pneumatic cylinder and a DC motor. They are connected in parallel using gears. The components are sized to provide the torque required to rotate a single-link robot arm vertically upwards. On/off solenoid valves are used rather than servo valves to keep the hardware cost low. A mathematical model of the nonlinear actuator dynamics is derived using a combination of physical laws and empirical curve fitting. The dynamics of the mechanical, electrical and pneumatic elements are included. Then a novel discrete-valued model-predictive control plus integral compensator algorithm is created for controlling the position of the pneumatic cylinder using the on/off valves. The control algorithm for the hybrid actuator is completed by using a conventional PD algorithm to control the electric motor. Experiments shows the hybrid actuator outperform pneumatic actuator in every aspect. Conversely, the DC motor added a faster acting and finer quantized force to the pneumatic cylinder force, which greatly improved the dynamic position control performance of the hybrid actuator. In experiments, the mean root-mean-square error and the maximum absolute error improved by 84% and 77%, respectively. | en_US |
dc.subject | Other Mechanical Engineering | en_US |
dc.subject | Other Mechanical Engineering | en_US |
dc.title | DEVELOPMENT OF A HYBRID PNEUMATIC-ELECTRIC ACTUATOR | en_US |
dc.type | thesis | en_US |
dc.contributor.department | Mechanical Engineering | en_US |
dc.description.degree | Master of Science in Mechanical Engineering (MSME) | en_US |
Appears in Collections: | Open Access Dissertations and Theses |
Files in This Item:
File | Size | Format | |
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fulltext.pdf | 2.87 MB | Adobe PDF | View/Open |
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