This paper shows that equilibrium velocity of pneumatic cylinders not only depends on the effective area of the outlet speed control valve but also on the air temperature at the discharge chamber. Different equilibrium velocities were obtained experimentally with the same speed control valves, when load mass or initial pressure at the discharge chamber was changed. The different equilibrium velocities are explained by the air temperature change. Experiments are simulated using a cylinder model considering heat transfer. Experimental and simulation results are in good agreement.
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