5th International Conference on Advances in Control and

5th International Conference on Advances in Control and

Optimization of Dynamical
5th International Systems
Conference on Advances in Control
Optimization
February
of Dynamical
18-22, 2018.
Systems
Hyderabad, Available
India onlineand
at www.sciencedirect.com
5th International
Optimization of Conference
Dynamical on Advances
Systems
February 18-22, 2018. Hyderabad, India in Control and
Optimization of Dynamical Systems
February 18-22, 2018. Hyderabad, India
February 18-22, 2018. Hyderabad, India
ScienceDirect
IFAC PapersOnLine 51-1 (2018) 237–242
Modeling
Modeling and
and PWM
PWM Control
Control of
of
Modeling and
Electro-Pneumatic PWM
Actuator Control
for of
Missile
Modeling and PWM
Electro-Pneumatic Actuator Control
for of
Missile
Electro-Pneumatic Actuator
Applications. for Missile
Electro-Pneumatic Actuator for Missile
Applications.
Applications.
Applications.
Murali Mohan Gade ∗∗ K.K. Mangrulkar ††
Murali Mohan Gade ∗ K.K. Mangrulkar †
Murali Mohan Gade K.K. Mangrulkar
∗ Murali Mohan Gade ∗ K.K. Mangrulkar †
∗ Scientist, D.R.D.L, Hyderabad, INDIA (e-mail:
∗ Scientist, D.R.D.L, Hyderabad, INDIA (e-mail:
[email protected]).
∗
Scientist, D.R.D.L, Hyderabad, INDIA (e-mail:
[email protected]).
† Scientist, D.R.D.L, Hyderabad, INDIA D.I.A.T,
(e-mail:
† Professor,
Professor, Aerospace Engineering
Engineering Department,
[email protected]).
Aerospace Department, D.I.A.T, Pune,
Pune,
† [email protected]).
INDIA
Professor, INDIA (e-mail:
Aerospace [email protected])
Engineering Department, D.I.A.T, Pune,
†
Professor, INDIA (e-mail:
Aerospace [email protected])
Engineering Department, D.I.A.T, Pune,
(e-mail: [email protected])
INDIA (e-mail: [email protected])
Abstract:
Abstract:
The Electro-Pneumatic
Abstract:
The Electro-Pneumatic Actuators Actuators (EPAs) (EPAs) using
using ON/OFF
ON/OFF type type solenoid
solenoid valves
valves areare very
very popular
popular
Abstract:
in
The aerospace applications
Electro-Pneumatic due
Actuators to their
(EPAs) robustness,
using ON/OFF simplicity,
type high
solenoidTorque/Weight
valves are veryratio, fast
popular
in
The aerospace applications
Electro-Pneumatic due to their
Actuators (EPAs) robustness,
using ON/OFF simplicity,
type high
solenoidTorque/Weight
valves are very ratio, fast
popular
speed
in
speed of
aerospace response,
of response, etc.
applications This
etc. This paper
due
paperto deals
their with the
robustness,
dealsrobustness, modeling,
with the modeling, simplicity, simulation,
high
simulation, plant
Torque/Weight characterization,
ratio,
plant characterization, fast
in aerospace
design of response,
a applications
Pulse Width due to their
Modulation (PWM) Controllersimplicity,
and high validation
model Torque/Weight of ratio, used
fast
speed
design
speed
ofof a Pulse
ofof response,
etc. This
Width
etc. This
paper
Modulation
paper
deals
(PWM)
deals
with the
with
modeling,
Controller
the modeling, and simulation,
model validation
simulation, plant of an
an EPA
plant characterization,
EPA used
characterization,
in
in missile
design
missile a applications.
Pulse Width The EPA
Modulation used
(PWM)in this work
Controller consists
and of
model 3-way, 2-position,
validation of an ON-OFF
EPA used
design
type
in of aapplications.
solenoid
missile Pulse Width
valves.
applications.
The
A The
EPA used
Modulation
non-linear
EPA used (PWM)in this
mathematical
in this
work consists
Controller
workmodel and
of the
consists the
of 3-way,
model
EPA
ofEPA
2-position,
validation
beenofdeveloped
has 2-position,
3-way,
ON-OFF
an EPA
developed
ON-OFFused
and
type
in solenoid
missile valves.
applications. A non-linear
The EPA mathematical
used in this workmodel of
consists of has
3-way, been
2-position, ON-OFF and
implemented
type solenoid
implemented in
in the
valves. MATLAB/SIMULINK
A non-linear
the MATLAB/SIMULINK mathematical environment
model
environment to
of carry
the
to the EPA
carry out the
has
outhas simulation
been
thebeen developed
simulation studies.
and
studies.
type
The plant solenoid
plant
implemented model valves.
in the A non-linear
is characterized
characterized
MATLAB/SIMULINK in mathematical
the experiment
experiment model
environment using ofFrequency
to carryEPA Response
out developed
Analysis
the simulation and
(FRA).
studies.
The
implemented model is
inPulse
the MATLAB/SIMULINK in the environment using Frequency
to carry Response
out the Analysis
simulation (FRA).
studies.
A
The
A Single
Singleplant Sided
model
Sided is
Pulse Width
characterized Modulation
Width Modulation in the (SSPWM)
experiment
(SSPWM) Controller Controller
using with
Frequency phase lead-lag
Response
with phase lead-lag compensators
Analysis (FRA).
compensators
The
and
A aplant
Single model
proportional
Sided is gain
Pulse characterized
Width been in
has Modulation the experiment
designed for the
(SSPWM) using loop
the closed
closed Frequency
Controller position
with Response
phase control
lead-lagAnalysis
of the
the (FRA).
missile
compensators fin
and
A a
Single proportional
Sided Pulse gain
Width has been
Modulationdesigned for
(SSPWM) loop
Controller position
with phase control
lead-lagof missile
compensators fin
servo.
and
servo. a The model
proportional
The model isgain is validated
gain has
validated beenby comparing
designed
by designed
comparing for thethe experimental
closed loop closed
position loop time
control ofresponses
the missilewith
fin
and a proportional
the simulation.
servo. simulation.
The model is validated has been by comparing forthe
thetheexperimental
experimental
closed loop
closed loop position
closed loop
timeofresponses
control the missile
time responses
with
fin
with
the
servo. The model is validated by comparing the experimental closed loop time responses with
the simulation.
© 2018,
the IFAC
simulation.
Keywords: (International
Missile, Federation of Automatic
Electro-Pneumatic Actuator,Control) ON-OFF Hosting by Elsevier
Solenoid valves,Ltd. All rights reserved.
Modeling,
Keywords: Missile, Electro-Pneumatic Actuator, ON-OFF Solenoid valves, Modeling,
Frequency Response
Keywords:
Frequency Response Analysis, Plant
Missile, Electro-Pneumatic
Analysis, Plant Characterization,
Actuator, ON-OFF
Characterization, Single
Single Sided valves,
Solenoid
Sided PWM Controller,
PWM Controller,
Modeling,
Keywords:
Lead-Lag
Frequency Missile, Electro-Pneumatic
Compensator,
Response Notch
Analysis, Filter.
Plant Actuator, ON-OFF
Characterization, SingleSolenoid
Sided valves,
PWM Modeling,
Controller,
Lead-Lag
FrequencyCompensator,
Response Analysis, NotchPlantFilter.
Lead-Lag Compensator, Notch Filter.Characterization, Single Sided PWM Controller,
Lead-Lag Compensator, Notch Filter. control signals.
signals. Instead
Instead of of aa conventional
conventional PWM PWM control,
control,
11 Introduction
Introduction control
1 Introduction a novel
control
acontrol SSPWM
signals.
novel SSPWM control
Instead
control of algorithm
of a was
conventional
algorithm developed.
PWM
was developed. In this
this
control,
In
1 Introduction servo,
aservo, signals.
novelaa SSPWM
single Instead
loop control
control a conventional
structure
algorithm is
was usedPWM
with
developed. control,
a LVDT
In this
The EPAs
EPAs using
using ON/OFFON/OFF type type solenoid
solenoid valves
valves are are gaining
gaining servo, aposition single loop
novela SSPWM control
control structurewas
algorithm is used with a In
developed. LVDT
this
The position sensor.loop
single
sensor. The
The details
control
details of mathematical
of mathematical
structure is used modeling
with a LVDT
modeling of
of
popularity
The EPAs
popularity in
using
in missile
ON/OFF
missile fin
fin position
type
position control
solenoid
control applications
valves are
applications be-
gaining
be- servo,
the EPA
position a single
is loop
presented
sensor. The control
in the
details structure
next
of is
section.used
mathematical with a LVDT
modeling of
The
causeEPAs using
of their
their ON/OFF
simplicity and type
lowsolenoid
cost. In valves
the are gaining
present work, the EPA sensor.
position is presented in the next
The details section.
of mathematical modeling of
popularity
cause of in simplicity
missile finandposition
low control
cost. In applications
the present be- the
work, EPA is presented in the next section.
popularity
there
cause are
of theirin
four missile
independent
simplicity fin position
and and
low control
similar
cost. In applications
EPAs,
the which
present be-
move
work, the EPA is presented in the next section.
there
cause are four simplicity
of their independent and and
low similar
cost. In EPAs,
the which work,
present move
four independent
there
four independent
are tail fins
four independent
tail fins ofand
of a missile
a missile
similar for controlling
EPAs,
for which move
controlling it in
it in
there
roll, are four
pitch and independent
yaw channels. and Eachsimilar
EPA EPAs,
is which move
connected to
four
roll,
four
independent
pitch and yawtail
independent
tail fins
channels.
fins
of a
of aEach
missile
missileEPA for
foris
controlling
connected it
controlling
it in
toin aa
separate
roll, pitch
separate shaft
and
shaft which
yaw
which is driven
channels.
is drivenEach by
Each a
by aEPA double
EPA
doubleis acting
connected piston.
acting piston. to a
roll,
Each pitch
side
separate and
of
shaft theyaw
which channels.
piston is is controlled
driven by a by a
doubleisNormally
connected
acting to a
Open
piston.
Each sideshaft
separate of the piston
which is is controlled
driven by by a Normally
a double acting piston.Open
(N/O)side
Each
(N/O) type,
type, ON/OFF,
of the
ON/OFF,piston 3-way,
is controlled
3-way, 2-Position solenoid
by a Normally
2-Position solenoid valves
Open
valves
Each side
as shown
shown
(N/O) of Fig.
in
type, the
ON/OFF,piston
1. is3-way,
controlled by a Normally
2-Position solenoid valves Open
as
(N/O) in
type, Fig.
ON/OFF,1. 3-way, 2-Position solenoid valves
as shown
Theshown
pressurein Fig. 1.
regulated Helium gas gas isis used
used in in this
this actuator.
actuator.
as
The pressurein Fig. 1.
regulated Helium
When
The
When the
pressure valve
the valve is
regulatedin electrically
Helium
is in electrically ON
gas is position,
used
ONisposition, in it
this discharges
actuator.
it discharges
The
When pressure
the double
double
the valve regulated
acting cylinder
is incylinder Helium
electrically to gasthe used in this
atmosphere.
ONatmosphere.
position, actuator.
Whereas,
it discharges
the
When the acting
valve is in electrically to the
ON position, it Whereas,
discharges
when
the
when it
double is in
it is acting electrically
cylinder OFF
in electrically OFF position,
to theposition,
atmosphere. it charges
Whereas,
it charges the
the
the
when double
cylinder.it is acting
Differential
in cylinder
electrically pressure to on
OFF theposition,
theatmosphere.
piston it is Whereas,
created
charges by
the
cylinder.
when Differential
it and
is indischarging
electrically pressure OFF on position,
the pistonit ischargescreated the by
charging
cylinder.
charging Differential
and discharging of
pressure proper
of properon chambers
the piston
chambers of
is the double
created
of created
the double by
cylinder.
charging Differential
acting cylinder
cylinder
and by properly
discharging pressure
properly on the
switching
of switching
proper piston
the
chambers ON/OFFis by
valves.
of the double
acting
charging and by
discharging of proper the
chambers ON/OFFof the valves.
double
A
A closed
acting
closed loop
cylinder position
by properly
loop position control
switching
control algorithm running
the ON/OFF
algorithm in
running valves. the
in the
acting
Servo
A closedcylinder
Control by
Unit
loop position properly
(SCU) switching
controlcontrols the
algorithmtheON/OFF
running valves.
position of the
in the
Servo
A closedControl
loop Unit
position (SCU)controlcontrols
algorithmthe position
running of
in the
the
piston
Servo
piston and
Control fin through
and fin throughUnit proper
(SCU)
proper switching
controls
switching the of the
position ON/OFF
of Fig. 1. Schematic Diagram Electro-Pneumatic Actuator
Servo
valves.
piston Control
and fin Unit (SCU)
through proper controls
switching the of
of
the ON/OFF
position
the of the Fig. 1. Schematic Diagram Electro-Pneumatic Actuator
ON/OFF
valves.
piston and fin through proper switching of the ON/OFF Fig. 1. Fig. Schematic Diagram Electro-Pneumatic Actuator
valves.
To avoid the control-structure interactions, the fin chatter- 1. Schematic Diagram Electro-Pneumatic Actuator
valves.
To avoid the control-structure interactions, the fin chatter-
ing avoid
To
ing frequency
frequency should be
the control-structure
should be higher
higher interactions,
than the
than the missile
missile body
the body bend- In this paper, we have presented the details of the
fin chatter-
bend-
To avoid the control-structure interactions, the body
fin chatter- In this paper, we have presented the details of the
ing mode
frequency frequency.
should be Therefore
higher thana PWM
the control
missile scheme
bend- modeling,
In simulation,
this paper, we have plant characterization, design ofthea
ing
ing mode
frequency frequency.
should Therefore
beTherefore
higher than a PWM control
the missile scheme
bodyscheme
bend- modeling,
In simulation,
this paper, we and plantpresented
have presented
the details
characterization, design
the ofdetails
of of
of oftheaa
with
ing
with a
mode100 Hz carrier
frequency.
a 100 frequency. frequency
Hz carrier frequency is is
a chosen
PWM to generate
control the SSPWM
modeling, Controller
simulation, model
plant validation
characterization, an EPA.
design
ing mode
with a 100 Hz carrier Therefore frequency is a chosen
PWM to
chosen
to generate
control
generate
the SSPWM
scheme
the SSPWM modeling,Controller
simulation,
Controller
and
and
model
plant
model
validation of andesign
characterization, EPA.
validation of an EPA. of a
with a 100
2405-8963
Copyright
Hz carrier
© 2018
© 2018, frequency is
IFAC (International
IFAC
chosen of
Federation toAutomatic the253 SSPWM
generateControl) Hosting by Controller
Elsevier Ltd. and model
All rights validation of an EPA.
reserved.
Copyright
Peer review© under
2018 IFAC 253 Control.
responsibility of International Federation of Automatic
Copyright © 2018 IFAC 253
10.1016/j.ifacol.2018.05.057
Copyright © 2018 IFAC 253
5th International Conference on Advances in Control and
238
Optimization of Dynamical Systems Murali Mohan Gade et al. / IFAC PapersOnLine 51-1 (2018) 237–242
February 18-22, 2018. Hyderabad, India

2 Modeling of the Electro-Pneumatic Actuator ( )( γ−1

γ
)
2
Pcr = = 0.4871 for Helium gas (4)
γ+1
The mathematical model of the EPA is developed using
the standard orifice theory. The following assumptions are
used in the modeling: 2.2 Modeling Discharge coefficient of the valves

(1) The Helium gas used in the actuator is a perfect gas, The valve discharge coefficent Cd is modeled as a constant
so that the perfect gas equation is valid. number whose value is lower for charging port and higher
(2) Regulator Output Pressure and Temperature remain for the discharging port as given below : Cdin = 0.7
Constant. for Inlet Port (Charging Process) and Cdout = 0.94 for
(3) The pneumatic process is Isothermal. Outlet Port (Discharging Process). The measured values
(4) The discharge coefficients of servo valves are constant. for Cd are initially provided by the valve designer with a
tolerance band. Final values of Cd are obtained by fine
2.1 Modeling dynamics of mass flow rate through valve tuning in the nonlinear simulation model to match with
orifice the experimental results.

The mass flow rate through the valve orifice is as shown 2.3 Modeling Temperature dynamics
in Fig. 2.
The pneumatic process is assumed to be Isothermal in na-
ture. Therefore the chamber temperatures remain constant
and equal to the reservoir temperature as given by Eqn. 5:

Tcharging = TDischarging = T0 (5)

Where, T0 is the Reservoir temperature in Kelvin.

2.4 Modeling the Pressure dynamics

The chamber pressure dynamics are governed by Perfect

Fig. 2. Mass flow rate through the valve orifice Gas equation and given by Eqn. 6
mRT
Based on Isentropic flow assumptions, for a compressible P = (6)
substance, the mass flow rate through a valve orifice will V
reside in either a sonic (Choked) or subsonic flow regime where, V is the chamber volume and R is the universal gas
as given by Eqn. 1: IN Kudryavtsev and Plummer (2005); constant (R = 2077 J/Kg K for Helium).
Anderson (1967)
The rate of change of chamber volume is given by Eqn. 7:
Cd Cṁ An Pu
ṁ = √ (1) V̇ = Ap ẋ (7)
Tu
where, ẋ is displacement rate of piston in m/s.
where Cṁ = Mass flow rate coefficient given by Eqn. 2 and
Eqn. 3 for choked (sonic)
( )flow and unchoked (subsonic) 2.5 Actuator Motive Force and Torque model
flow respectively. If PPud <= Pcr , the flow will be
( ) The motive force and the torque developed by the actuator
choked and PPud > Pcr , the flow will be subsonic. are given by Eqn. 8 and Eqn. 9 respectively.
IN Kudryavtsev and Plummer (2005); Anderson (1967)

� FM otive = (P1 Ap1 − P2 Ap2 ) (8)

� ( )( γ−1
�γ 2
γ+1
)
� Where, AP 1 and AP 2 are piston areas for chamber 1 and
Cṁ = (2)
R γ+1 πd2cyl
2 respectively and given by : Ap1 = 4 and Ap2 =
π (d2cyl −d2shaf t )
� .
�( ) [( ) 2 ( )( γ+1 ] 4
� 2γ Pd ( γ ) Pd γ )
Cṁ =� − (3)
(γ − 1)R Pu Pu MM otive = (FM otive Larm ) (9)

where, γ is the ratio of specific heats = (Cp /Cv ) = 1.667 Where, Larm is the arm length of the linkage for converting
for Helium. linear motion of the piston in to angular motion.
Pcr is the critical pressure ratio given by Eqn. 4:
2.6 Friction model
IN Kudryavtsev and Plummer (2005); Anderson (1967)
There exists three different types of frictions:

254
5th International Conference on Advances in Control and

Optimization of Dynamical Systems Murali Mohan Gade et al. / IFAC PapersOnLine 51-1 (2018) 237–242 239
February 18-22, 2018. Hyderabad, India

(1) The static friction : The static friction is modeled as Table 1.

given by Eqn. 10
( ) S.No Parameter Value
Mstic = Fstic Larm Sign δ̇ ; If − vth < v < vth 1 Cd (charging port) 0.7
Mstic = 0.0; If − vth > v > vth 2 Cd (discharging port) 0.94
3 Valve ON delay 1.3 ms
vth = 0.0066m/s 4 Valve OFF Delay 1.5 ms
(10) 5 Fstic 30 N
(2) The dynamic friction due to loaded bearing : 6 Ksealf ric 0.025
The dynamic friction torque Mdynf ric is experi- 7 Operating pressure 37 bar
enced by the actuator due to the loaded bearing. 8 Maximum fin deflection 25 deg
This value is obtained from the friction measurement 9 Controller sampling time 0.5 ms
experiments conducted on the actuator.
(3) The pressure dependent piston sealing friction : (2) Process model (i.e. Verifying with Isothermal and
Due to pressurization of the chambers, the seal gets Adiabatic process models).
deformed and causes a friction between piston and In addition to these parameters, the following parameters
cylinder as given by Eqn. 11 are obtained from the experimental testing.
(1) Bearing friction torque:
Msealf ric = Ksealf ric M ax (P 1, P 2) Ap Larm Sign(δ̇) Obtained from the friction measurement tests by
(11) loading the bearing gradually from no load to full
where, Ksealf ric is the coefficient of piston sealing load torque.
friction (2) Piston sealing friction torque coefficient:
Obtained from the friction measurement tests con-
Total friction is given by Eqn. 12 ducted by pressurizing the chambers.
(3) ON/OFF delay times of the solenoid valves:
The ON-OFF delays of the valves are obtained
MT otalf ric = Mstic + Mdynf ric + Msealf ric (12) experimentally from the measured data of chamber
pressures, input switching pulses and currrents drawn
2.7 Modeling actuator fin dynamics by the solenoid valves. The fin deflection and chamber
pressures in experimental Vs nonlinear simulation
The actuator fin dynamics are as given by Eqn. 13 model are as shown in Fig. 3 and Fig. 4 respectively.

(Mmotive + MT otalf ric + MHM )

δ̈ = (13)
If in

where,
If in is the fin moment of inertia in Kg − m2
MHM is the aerodynamic hinge moment load acting on
the fin which can be either opposing (stable) or assisting
(unstable) given by Eqn. 14.

MHM = ±KHM δ (14)

KHM is the hinge moment coefficient in N − m/rad.

2.8 Important parameters of the pneumatic actuator Fig. 3. Deflection: Experimental Vs nonlinear simulation

The important parameters of the pneumatic actuator are 3 Experimental plant characterization using FRA
as given in the Table 1.
Since, the pneumatic servo with ON/OFF valves is highly
2.9 Validation of the nonlinear simulation model nonlinear, it is necessary to obtain a linear plant model for
designing a controller. The servo plant characterization as
A nonlinear simulation model of the pneumatic actuator shown in Fig. 5 in experiment is carried out by conducting
is developed in MATLAB/SIMULINK using the Eqn. 1 FRA to estimate a linear model of the servo with different
to Eqn. 14. Then, it is validated against the experimental load conditions.
data by matching the deflection and chamber pressures.
The plant characterization procedure is as explained
The following parameters of the nonlinear simulation below:
model are tuned to achieve this:
(1) The experimental FRA is conducted on the servo
(1) Discharge coefficients of valves for charging and dis- at frequencies with range [2, 32] Hz. The plant is
charging processes. characterized between the control signal input to

255
5th International Conference on Advances in Control and
240
Optimization of Dynamical Systems Murali Mohan Gade et al. / IFAC PapersOnLine 51-1 (2018) 237–242
February 18-22, 2018. Hyderabad, India

Fig. 4. Chamber Pressures: Experimental Vs nonlinear

simulation Fig. 6. Estimation of transfer function from the experi-
mental FRA data

always complementary to each other. In this logic, both

the valves will be switched ON and OFF, even for small
Fig. 5. Block diagram of the experimental pneumatic servo value of error also and thus increases the gas consumption.
plant characterization
The SSPWM control algorithm is developed mainly with
the PWM (fe signal) and the deflection feedback a motivation to reduce the gas consumption. The SSPWM
(DeltaFB). controlled servo consumes only 30% of that of DSPWM as
(2) The input as well as the output signals are passed shown in Fig. 7. In the SSPWM, there will be certain over-
through band pass filters of exactly same parameters. lapping period during which both the valves are connected
(3) The gain and phase computation is done by correla- to gas reservoir and starts pressurizing the chambers. This
tion FRA algorithm 1 . overlapping is achieved by introducing a fixed delay called
(4) The complex frequency response function is com- Dead Zone (DZ) in the switching signal generation. During
puted from the gain and phase data as follows : this overlapping period the gas is not vented out to the
atmosphere and thus saved. It also ensures that if the error,
H (jω) = Gain. exp(jϕ) (15) f e > (1−DZ) value, one valve only operates and the other
valve will not operate and thus the gas is again saved. The
where, ϕ is phase of the plant.
selection procedure of the DZ is as follows:
(5) Then finally numerator and denominator of the servo
plant transfer function are estimated using the analog First the DZ value for the lower area side valve is decided
filter least squares fit algorithm from the complex based on the valve ON delay as given in Eqn. 17:
frequency response function as shown in Fig. 6. The
estimated transfer function is of 3rd order with a real ( )
pole at 1.18 rad/s and a pair of complex conjugate 2
DZP OS = DZLowerArea = τON (17)
poles at a natural frequency 203.05 rad/s and a TP W M
damping ratio of 0.443.
where, τON is the ON delay of the valve
858116.91 TP W M = 1
is period of one PWM cycle and
Gp (S) = (16) fP W M
(S + 1.18) (S 2 + 179.7S + 41230)
fP W M is frequency of the PWM carrier signal.
4 Single Sided PWM (SSPWM) Control Algorithm The SSPWM control algorithm is as given in Eqn. 18:

The SSPWM control algorithm is different from the con- DZP os = 0.25; DZN eg = 0.5
ventional Double Sided Pulse Width Modulation (DSPWM). f eP OS = f e + P W MP OS + DZP OS
In DSPWM, the switching commands of both valves are
f eN EG = f e + P W MN EG − DZN EG
1 http://www.control-systems-principles.co.uk/downloads.
html

256
5th International Conference on Advances in Control and

Optimization of Dynamical Systems Murali Mohan Gade et al. / IFAC PapersOnLine 51-1 (2018) 237–242 241
February 18-22, 2018. Hyderabad, India

if (f eP OS ≥ 1.01)
SWP OS = 1;
if (f eP OS < 0.99)
SWP OS = 0
if (f eN EG ≥ −0.99) (18)
SWN EG = 0
if (f eN EG < −1.01)
SWN EG = 1

A small hysteresis band of 0.01 is used to eliminate small Fig. 8. Block diagram of the SSPWM Servo Controller
pulses due to noise in the signals f eP OS and f eN EG . 5.2 Phase Lag Compensator

The phase lag compensator along with the proportional

gain is designed mainly to increase the DC gain for a
higher disturbance rejection by ensuring required GCF.
The phase lag compensator is as given by Eqn. 19

( )( )
S + ωzLag ωpLag
GcLag (S) = (19)
S + ωpLag ωzLag

where, ωzLag = 16 rad/s and ωpLag = 2 rad/s.

5.3 Phase Lead Compensator with Real Pole-Zeros

Fig. 7. Comparison of gas consumption: DSPWM Vs The 2nd order phase lead compensator with real pole-zeros
SSPWM in the forward path as given in Eqn. 20 is designed mainly
to improve the Phase Margin (PM).
5 Design of Lead-Lag Compensator based SSPWM
Controller    
S S
ωz1Leadf orw +1 ωz2Leadf orw +1
In this section, the details of the lead-lag compensator GcLeadf orw (S) =  S
.
S

+1 +1
based controller are explained. The actuator position con- ωp1Leadf orw ωp2Leadf orw
trol is achieved by a single loop control architecture with (20)
a LVDT position sensor for feedback. The controller is
where, ωz1Leadf orw = 57 rad/s, ωp1Leadf orw = 107 rad/s,
implemented on a Texas Instruments F2812 Digital Signal
Processor (DSP) based SCU with a control sampling of ωz2Leadf orw = 71 rad/s, ωp2Leadf orw = 116 rad/s.
0.5 ms. The estimated plant model as given in Eqn. 16: is
used for designing the controller. 5.4 Complex Phase Lead Compensator
The important specifications of the control design are as
given in the Table 2. The 2nd order complex phase lead compensator in the
feedback path as given in Eqn. 21 is designed mainly to
Table 2. increase the Gain Margin (GM) by increasing the Phase
Crossover Frequency (GCF).
S.No Specification Value
1 Time To Rise 10 deg 60 ms  
2 Bandwidth (-90 deg BW) 15 Hz S2 2ζ1
2
ωn1
+ ωn1 S +1
3 Gain Margin 6 dB GcLeadF B (S) =  S2 2ζ2
 (21)
4 Phase Margin 45 deg 2
ωn2
+ ωn2 S +1
5 Overshoot < 20%
6 Steady state error < 0.7 deg where, ωn1 = 204 rad/s, ωn2 = 604 rad/s,

The block diagram of the controller is as shown in Fig. 8 ζ1 = 0.171 rad/s, ζ2 = 0.6 rad/s.

The elements of the controller are explained below : 5.5 Notch filter
5.1 Proportional gain (Kp)
A 2nd order Notch filter in the forward path with a notch
frequency at 100 Hz as given in Eqn. 22 is designed mainly
The proportional gain (Kp) is designed to ensure the
to attenuate the 100 Hz chattering due to PWM pulses.
required Gain Crossover Frequency (GCF) and higher
disturbance rejection.The design value of Kp is set at 15.

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5th International Conference on Advances in Control and
Optimization of Dynamical Systems Murali Mohan Gade et al. / IFAC PapersOnLine 51-1 (2018) 237–242
242
February 18-22, 2018. Hyderabad, India

 
S2 2ζ1
2
ωn + ωn S +1
GcN otch (S) =  S2 2ζ2
 (22)
2
ωn + ωn S +1
where, ωn = 2 ∗ π ∗ 100 rad/s and ζ1 = 0.0005, ζ2 = 0.125

5.6 Chebyshev Type-II Low Pass Filter

A 3rd order Chebyshev Type-II Low Pass Filter (LPF)

in the forward path with a stop band edge frequency at
174.65 Hz and a stop band ripple -15 dB is designed to
provide a very high roll-off at the higher frequencies.

5.7 Analysis of the Servo Control design

The bode plot of the open loop compensated servo control

system is as shown in Fig. 9 Fig. 11. Experimental Bandwidth test of the Servo with
the designed controller
Table 3.
S.No Parameter Specification Achieved
1 Time To Rise 10 deg 60 ms 24 ms
2 -90 deg Bandwidth 15 Hz 20 Hz
3 Gain Margin 6 dB 12.7 dB
4 Phase Margin 45 deg 85.1 deg
5 Overshoot < 20% 14.5%
6 Steady state error < 0.7 deg 0.06 deg

The simulation results of the EPA are matching very

satisfactorily with the experimental results in both time
and frequency domains. Finally, the servo performance
with the designed SSPWM controller is also tested under
opposing as well as assisting load cases and the results are
satisfactory in all aspects.
Fig. 9. Bode plot of the open loop compensated servo 6 Conclusions
control system

From the Fig. 10 it can be noticed that, the -90 deg In this paper, we have carried out the modeling, simu-
bandwidth of the servo is about 20 Hz. This can be lation of an Electro Pneumatic Actuator used in missile
crosschecked experimentally by testing the servo at 10 applications. The nonlinear simulation model is validated
Hz sine command and computing the phase lag between with the experimental closed loop time response.
input and output signals as shown in Fig. 11, which is An experimental plant characterization has been carried
approximately -45 deg. Therefore, by assuming a standard out on the EPA using FRA. The gain and phase of the
second order system, the -90 deg phase lag occurs at 19.3 plant at various input frequencies are obtained using cor-
Hz, which is very close to 20 Hz as predicted by the closed relation FRA algorithm and estimated a transfer function
loop Bode using the experimentally estimated plant model. model for the plant alone.
Developed an innovative SSPWM control algorithm which
generates the switching pulses to the valves with reduced
gas consumption. Designed a single loop position control
system. Achieved all the design specifications with the
designed SSPWM controller under no load, opposing and
assisting load conditions.

References

Fig. 10. Closed loop Bode plot and Step response of the Anderson, B.W. (1967). The Analysis and Design of
Servo with the designed controller Pneumatic Systems. John Wiley and Sons. Inc.
IN Kudryavtsev, AV Kramskoy, A.P. and Plummer, M.
The designed controller is tested experimentally in both (2005). Computer Simulation of Pneumatic Engine Op-
the time and the frequency domains. From the Table 3, it eration. International Scientific Journal for Alternative
can be observed that the achieved control parameters are Energy and Ecology (ISJAEE), 3(23).
satisfactorily meeting the design specifications.

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