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Advancements in the programmable motion control of pneumatic drives for robots and other flexible machines

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thesis
posted on 02.04.2014, 08:34 by Junsheng Pu
The overall objective of this research is to advance the programmable motion control of pneumatic drives. Enhanced performance characteristics and improved parameter tuning facilities have been evolved for a new generation of pneumatic servos. The evolution has been achieved with specific reference to the application of pneumatics in the motion control of modular robots and other modular machines. The research has been largely experimentally-based with complementary new modelling studies providing a basis for suggesting and explaining the control strategies evolved. Novel realtime control algorithms have been implemented and their associated performance characteristics statistically analysed. The algorithms have provided technological advance with respect to (i) minimising drift and hysteresis in the drive system through compensating and automating the system null conditions; (ii) optimising the positioning time through use of learning procedure; (iii) achieving velocity control through "null velocity" compensation and learning.

Funding

British Council

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Publisher

Loughborough University of Technology

Rights holder

© Junsheng Pu

Publication date

1988

Notes

A Doctoral Thesis. Submitted in partial fulfilment of the requirements for the award of Doctor of Philosophy of Loughborough University of Technology.

EThOS Persistent ID

uk.bl.ethos.276365

Language

en

Supervisor(s)

R.H. Weston

Qualification name

PhD

Qualification level

Doctoral

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