Many points positioning control of a pneumatic cylinder for a vertical axis actuator using two degrees of freedom PI control method

Abstract

Recently, pneumatic cylinders have become favorite actuators utilized as Z axis (vertical axis) actuators of industrial robots and for lifting or lowering parts. Two degrees of freedom PI controller is applied to the system for many-points positioning control. From some simulations and experiments, it is confirmed that the proposed control system is effective to improve the overshoot or undershoot and settling time for many points positioning.