Position Control of a Cylinder System Using ER Valve Actuators

초록

This paper presents position control of cylinder systems using ER fluids. Following the identification of field-dependent Bingham characteristics of an ER fluid, a sdf double-rod cylinder system is constructed by adopting bridge-circuit controlled ER valve actuators. The governing equation of motion is derived followed by the design of a neural network feedback controller. The controller is realized and position tracking control responses are presented. The single dof cylinder is then extended to a 3 dof to provide more practical flavor. The dynamic model of the closed-loop cylinder system is established and a sliding mode controller is formulated. The controller is implemented and position tracking responses are provided.