Journal of Automation and Control
ISSN (Print): 2372-3033 ISSN (Online): 2372-3041 Website: Editor-in-chief: Santosh Nanda
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Journal of Automation and Control. 2016, 4(2), 51-55
DOI: 10.12691/automation-4-2-10
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Trajectory Tracking Controller of Air Bellow

František Trebuňa1, Michal Kelemen2, Miroslav Pástor1 and Ivan Virgala2,

1Department Applied Mechanics and Mechanical Engineering, Faculty of Mechanical Engineering / Technical University of Košice, Košice, Slovakia

2Department of Mechatronics, Faculty of Mechanical Engineering / Technical University of Košice, Košice, Slovakia

Pub. Date: December 14, 2016

Cite this paper:
František Trebuňa, Michal Kelemen, Miroslav Pástor and Ivan Virgala. Trajectory Tracking Controller of Air Bellow. Journal of Automation and Control. 2016; 4(2):51-55. doi: 10.12691/automation-4-2-10


The paper deals with describing of air bellow and designing of control system for its trajectory tracking. A lot of research works were done in the past concerning to pneumatic cylinders and their control systems based on servovalves. This paper investigates unconventional pneumatic actuator – air bellow, which is controlled by two two-way normally closed valves in consideration of expensive servovalves. In the paper air bellow is described as mass-damper-spring mechanical system of 2nd order. The paper also introduces the control system for purposes of trajectory tracking of air bellow top platform. Derived algorithm was experimentally tested on measuring stand while control system consists of PLC B&R X20 in collaboration with input / output measuring card MF634 working through the software Matlab / Simulink. The results show that used methodology is suitable for certain applications, where it is not necessary to achieve high precise of positioning and also there is requirement to stiffness of mechanical system.

air bellow controller PLC pneumatic system stiffness trajectory tracking

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