Adaptation, modelling of dynamic drives and controller design in servomechanism pneumatic systems

Problems associated with the application of modern control approaches to industrial servomechanism systems, developed using pneumatic techniques, are presented and discussed. Two major tasks for servosystems are investigated: point-to-point and trajectory-tracking control. Presentations of the drive system, based on fundamental phenomenology equations and statistically identified models, are introduced and discussed. This knowledge combined with identified roles for drives leads to approaches that can be useful in the design of appropriate controller algorithms for ´high-tech´ servosystems. Their variety, including state-space control, fast adaptation control, predictive control and multipurpose (movement and force) control is presented. Application of these techniques in industrial conditions involves different technical problems, e.g. measurability of signals, time limit on control values or sensitivity to variations of load, working regime and supply conditions. Proposals on how to cope with these problems are described. Extended testing under industrial conditions is described briefly.