Study on Hopping Height Control and Detection for the Pneumatic Actuator

摘要

The research objective of this paper is to study control algorithm and detection method for the pneumatic actuator's hopping height. Mathematical model of the pneumatic actuator is developed based on the Newton equations and ther-modynamic equations, and the simulation model is built in MATLAB. At the acceleration stage of the hopping process, acceleration time and opening of the proportional valves are controlled to adjust the hopping height of the pneumatic actuator. Vertical hopping test rig is built, and an ultrasonic ranging system is mounted beside the foot to detect the hopping height of the pneumatic actuator. Both simulation and experimental results show that the hopping height can be controlled effectively by changing the acceleration time and the opening of the proportional valves.