Implementation of Decoupled Model-Based Controller in a 2-DOF Pneumatic Platform used in Low-Cost Driving Simulators

摘要

This study presents a solution for the control of a 2-DOF platform with two electro-pneumatic actuators. This solution is currently used by the SIMPRO Company in low-cost driving simulators. The control of a pneumatic servo system is a complex task due to the highly non-linear dynamics of the electro-pneumatic actuators; furthermore the multivariable character of the multi-DOF system complicates the problem. First, the dynamic description of the actuators, analytically or by experimental identification, considering its dependence from the piston position, is obtained. From this model, a linear controller is synthesized by pole placement, performance indexes with a high disturbance rejection are established, as well as the capacity for tracking to a ramp-type reference with a low settling time. The synthesis method of the controller is applied to the 2-DOF pneumatic platform in a decoupled manner for each actuator. The whole solution is then implemented in an embedded controller showing adequate performance.