Fuzzy PWM control of the positions of a pneumatic robot cylinder using high speed solenoid valve

摘要

In the study, instead of using expensive servo valves, three inexpensive high-speed solenoid valves were adopted and a fuzzy PWM controller was designed to control the linear and rotational positions of a pneumatic robot cylinder. The modified differential PWM method is proposed to eliminate the dead zone and to improve the nonlinear characteristics between the pressure difference of the cylinder and the duty ration of the PWM control signal.