Title: Linear active disturbance rejection motion control of a novel pneumatic actuator with linear-rotary compound motion

Authors: Yifan Jia; Zhihao Zhang; Shan Du; Wei Zhong; Yuantong Xu; Chenwei Pu; Luis Miguel Ruiz Páez; Pengfei Qian

Addresses: School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China ' School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China ' Zhejiang LINIX Motor Co., Ltd., Jinhua 322118, China ' School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, China ' School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China ' School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China ' School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China; School of Mechatronic Engineering, Polytechnic University of the Metropolitan Zone of Guadalajara, Tlajomulco de Zúñiga 45670, Mexico ' School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China

Abstract: Linear and rotary motions are two commonly encountered forms of motion in practical industrial applications. However, the research on pneumatic actuators with linear-rotary compound motion is limited, and the existing actuators cannot meet the actual motion requirements. In this regard, this paper develops a novel pneumatic actuator capable of realizing linear and rotary compound motions based on pneumatic cylinders and pneumatic motors. Two proportional directional valves are employed to control the displacement of the linear motion module and the rotational speed of the rotary motion module respectively. A linear active disturbance rejection (LADRC) controller for the novel pneumatic actuator with linear-rotary compound motion is developed in this paper by adopting a non-model-based active disturbance rejection control algorithm. Experimental results indicate that with the LADRC controller, the steady-state error in trajectory tracking is less than 1 mm, and the steady-state error in speed control is within 3.4 rpm.

Keywords: linear-rotary compound motion; pneumatic actuator; linear active disturbance rejection control; LADRC; position tracking control; rotational speed control.

DOI: 10.1504/IJHM.2024.143187

International Journal of Hydromechatronics, 2024 Vol.7 No.4, pp.382 - 399

Received: 31 Mar 2024
Accepted: 27 Jun 2024
Published online: 06 Dec 2024 *

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