Positioning of rotary pneumatic actuator by passive dynamic control

The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design. It positively uses a passive element (braking effort) whose characteristics are variable. In this paper, the PDC is applied to a rotary pneumatic actuator. First, the rotary pneumatic actuator equipped with an electromagnetic brake and a sensor for applying the PDC is proposed, and its control method is described. Then, positioning control and follow-up control to a sine curve are shown, and the effectiveness of the PDC for oscillatory movement is examined through experiments.