A comprehensive mathematical model of a low-friction servopneumatic actuator

TL;DR

This paper develops a detailed mathematical model of a low-friction servopneumatic actuator, incorporating various physical effects to improve understanding and control of such systems.

Contribution

It provides a comprehensive mathematical model that consolidates multiple physical phenomena in servopneumatic actuators, enhancing accuracy and system analysis.

Findings

Numerical simulations demonstrate the model's ability to predict system behavior.

The model captures effects of friction, temperature, pressure, and leakage.

Elastic behavior due to air compressibility is thoroughly analyzed.

Abstract

This paper presents a comprehensive mathematical model of a servopneumatic system, aimed at its consolidation in literature. The work exploits system's friction forces, temperature and pressure evolution, heat transfer, leakage between chambers and environment, equilibrium of cylinder forces, resistance of the pipes, mass flow rate in valve output, varying area of valve orifices and equilibrium of valve forces. Numerical simulations are performed, where system's elastic behaviour due to the air compressibility is thoroughly exploited.