Hindawi Publishing Corporation

Mathematical Problems in Engineering

Volume 2011, Article ID 472903, 16 pages
doi:10.1155/2011/472903

Research Article
Nonlinear Mathematical Modeling in
Pneumatic Servo Position Applications

Antonio Carlos Valdiero,1 Carla Silvane Ritter,1

Cláudio Fernando Rios,1 and Marat Rafikov2
1
Robotics Laboratory, Technology Department, UNIJUÍ—Regional University of Northwestern Rio Grande
do Sul State, P.O. Box 121, Avenue Rudi Franke 540, 98280-000 Panambi, RS, Brazil
2
Centro de Matemática, Computação e Cognição, UFABC, Rua Catequese 242, 3o andar,
Jardim 09090-400 Santo André, SP, Brazil

Correspondence should be addressed to Antonio Carlos Valdiero, valdiero@unijui.edu.br

Received 6 July 2010; Revised 14 March 2011; Accepted 22 March 2011

Academic Editor: Marcelo Messias

Copyright q 2011 Antonio Carlos Valdiero et al. This is an open access article distributed under
the Creative Commons Attribution License, which permits unrestricted use, distribution, and
reproduction in any medium, provided the original work is properly cited.

This paper addresses a new methodology for servo pneumatic actuators mathematical modeling
and selection from the dynamic behavior study in engineering applications. The pneumatic
actuator is very common in industrial application because it has the following advantages: its
maintenance is easy and simple, with relatively low cost, self-cooling properties, good power
density power/dimension rate, fast acting with high accelerations, and installation flexibility.
The proposed fifth-order nonlinear mathematical model represents the main characteristics of
this nonlinear dynamic system, as servo valve dead zone, air flow-pressure relationship through
valve orifice, air compressibility, and friction effects between contact surfaces in actuator seals.
Simulation results show the dynamic performance for different pneumatic cylinders in order to
see which features contribute to a better behavior of the system. The knowledge of this behavior
allows an appropriate choice of pneumatic actuator, mainly contributing to the success of their
precise control in several applications.

1. Introduction
This work presents a new methodology to identify the main nonlinear characteristics
in pneumatic actuators and its mathematical modeling in engineering applications. The
pneumatic actuator is very common in industrial application 1 because it has the following
advantages: its maintenance is easy and simple, with relatively low cost, self-cooling proper-
ties, good power density power/dimension rate, fast acting with high accelerations 2 and
installation flexibility. Also, compressed air is available in almost all industrial plants 3.
2 Mathematical Problems in Engineering

However, there are difficulties of control due to various nonlinear characteristics

of the system 4, 5. The nonlinearities present in pneumatic actuators are motivated
by its very low stiffness caused by air compressibility, inherently nonlinear behavior,
parameter variations, and low damping of the actuator systems, which make it difficult
to achieve precise motion control. The main nonlinearities in pneumatic servo systems
are the servo valve dead zone 6, air flow-pressure relationship through valve orifice
1, 7, the air compressibility, and friction effects between contact surfaces in actuator seals
8, 9.
Several recent authors present a study on the characteristics of nonlinear pneumatic
actuators 1, 5, 7, 9–11. Valdiero et al. 6 present a mathematical model to dead zone in
pneumatic servo valves, followed by the method used for compensation that is made with
the addition of an inverse dead zone function in the control system. Rao and Bone 1
present a modeling approach where they use the bipolynomial functions to model the valve
flow rates, but a poor classical friction model is used. Perondi 10 developed a nonlinear
accurate model of a pneumatic servo drive with friction, where the nonlinear airflow
relationship between the pneumatic valve’s driving voltage and the upstream/downstream
pressures is proposed. Endler 7 used the methodology of optimal feedback control for
nonlinear systems proposed by Rafikov et al. 12 in servo pneumatic system, and simulation
results show that a full nonlinear mathematical model is important in pneumatic robot
applications.
The main paper contribution is to systematize its nonlinear mathematical model
with some innovations such as a new equation for valve flow rate and to show how it is
important for the success in control applications. The paper is organized as follows. Section 2
brings a description of servo pneumatic positioning system with its main components, the
used test rig, and a schematic drawing with the nonlinearities present in the actuator. In
Section 3, the systematic methodology of the pneumatic actuator nonlinear mathematical
modeling is shown. Results are presented in Section 4. Conclusions are outlined in
Section 5.

2. Pneumatic Servo Position System

The servo pneumatic positioning system considered in this paper is formed by a proportional
servo valve component 4 in Figure 1 and a double-action rodless cylinder component 2 in
Figure 1. This actuator permits to position one load in a desired position of the actuator curse
or follow a desired trajectory. Figure 1 shows the schematic drawing of used experimental
setup with main components for the purpose of investigating the nonlinear mathematic
model. The used acquisition and control system is a dSPACE DS 1102 board. It is composed
by 4 analog inputs ADCs and 4 analog outputs DACs as shown in Dspace 13. Sensors
permit to measure air system inlet pressure 1, the actuator position 3, and actuator
chamber pressures pa and pb  5 and 6.
Figure 2 shows the schematic drawing of a servo pneumatic actuator for better
understanding of system behavior. During the operation, the control signal u energizes
valve’s solenoid, so that a resulting magnetic force is applied in the valve’s spool, producing
the spool displacement. The spool displacement opens control orifices, so that one port
is connected to the supply’s pressure line, and the other is connected to the atmosphere.
Consequently, there is the pressure difference between cylinder chambers, resulting in a force
that moves the mass M in a positive or negative displacement y, depending on the control
signal input.
Mathematical Problems in Engineering 3

y 03
TD
ADC-1 Power + −
0 · · · 10 V supply
Simulink/matlab 02

pa pb
ADC-3 0 · · · 10 V Signal
ADC-4 0 · · · 10 V conditioning
TP3
TP4
06
05 qma qmb

PC DAC-1 −10 · · · 10 V 04
Amplifier
dSPACE
128 k × 32 26

ADC-2 0 · · · 10 V
DSP
RAM statica Escrava
1/0 digital

TPs
Conector 1/0 analogico/digital

ADC 1

ADC 2

01
Interface

serial

ADC 3

DSP ADC 4
mestre
DAC 1
TMS320C31

DAC 2
Conector

JTAG

DAC 3

Interface DAC 4
JTAG

DAC-2
Encoder incr. 1 Filtro de ruido
Interface
Encoder incr. 2 Filtro de ruido
host

DAC-3
EXPANSÃ bus pC/AT

DAC-4

Figure 1: Experimental setup with main components.

Supply pressure

Atmospheric pressure Atmospheric pressure

Sleeve
Signal u

Spool

Chamber A Chamber B

y
Pressure
transducer

Position Mass Actuator cylinder

transducer

Figure 2: Schematic drawing of a pneumatic servo system.

4 Mathematical Problems in Engineering

ẏ y
pa FL
qma ṗa 1 pa
−
S
u uzm + Fp 1 1 1
+
qmb − M S S
ṗb
pb 1
Dead zone Air flow S pb −
equation
Pressures dynamic ẏ
Fatr

Friction
dynamic

Figure 3: Block diagram of the main nonlinear dynamics in the mathematical model.

Figure 3 shows block diagram of the main dynamics in the nonlinear mathematical
model of the pneumatic actuator. The main nonlinear characteristics of this dynamic
system are servo valve dead zone, air flow-pressure relationship through valve orifice, air
compressibility, and friction effects between contact surfaces in actuator seals.
Dead zone is common in pneumatic valves because the spool blocks the valve orifices
with some overlap, so that for a range of spool positions, there is no air flow 6. It is located at
the dynamic system as a block diagram shown in Figure 3 and is characterized in Section 3.1.
The air flow-pressure relationship through valve orifice is a nonlinear function that
depends on pressure difference across the valve orifice and valve opening 7. In this paper,
we present a new mass flow rate equation in Section 3.2.
The pressures dynamic model is obtained from continuity equation and results in
nonlinear first-order differential equation. This dynamic behavior depends on pneumatic
cylinder size. Small cylinder bore size produces significant effects such as a faster pressure
response 1. If the bore size is reduced, the ratio of friction force to maximum pneumatic
force increases, and the chamber pressures are more sensitive to small variations in the mass
flow rate. Therefore, the precise tracking control is more difficult with smaller bore sizes. This
detailed nonlinear dynamics is presented in Section 3.3.
The nonlinear friction is the most important factor that affects the motion equation.
Friction is a nonlinear phenomenon which is difficult to describe analytically 8. The friction
often changes with time and may depend on an unknown way of environmental factors, such
as temperature and lubricant condition. Even so, the modeling of their main characteristics is
important. In this paper, we consider the actuator friction dynamics described by the LuGre
model, proposed in Canudas de Wit et al. 14, and improved by Dupont et al. 15 in order
to include stiction effects. This model is presented in Section 3.4.

3. Nonlinear Mathematical Modeling

The systematic methodology of the pneumatic actuator nonlinear mathematical modeling
is presented from experimental data and recent literature information. The full system
constitutes a fifth-order nonlinear dynamic model of the pneumatic positioning system and
Mathematical Problems in Engineering 5

Atmospheric Supply Atmospheric

pressure pressure pressure

Spool
u

pa pb
Sleeve

Overlap on the spool

Figure 4: Sectional view sketch of typical spool valve with main mechanical elements of the proportional
valve with input dead zone.

considers the nonlinearity of the dead zone, the mass flow rate, the pressure dynamics, and
the motion equation, that includes the friction dynamics.

3.1. Dead Zone Nonlinearity

This section presents the mathematical model for dead zone nonlinearity and its graphical
representation. Dead zone is a static input-output relationship which for a range of input
values gives no output. Figure 4 shows a sectional view sketch of typical spool valve with
main mechanical elements.
The mathematical model for dead zone in pneumatic servo valves presented in this
section was obtained from Tao and Kokotović 16. The dead zone analytical expression is
given by the equation
⎧
⎪
⎪ mdut − zmd  if ut ≥ zmd ,
⎪
⎨
uzm t  0 if zme < ut < zmd , 3.1
⎪
⎪
⎪
⎩
meut − zme  if ut ≤ zme ,

where u is the input value, uzm is the output value, zmd is the right limit of the dead zone, zme
is the left limit of the dead zone, md is the right slope of the output, and me is the left slope
of the output.
Figure 5 shows a graphical representation of the dead zone. In general, neither the
break-points zmd and zme  nor the slopes md and me are equal.
In current fluid power literature, dead zone in valves is expressed as a percentual of
spool displacement. Valdiero et al. 6 present a new methodology for dead zone nonlinearity
6 Mathematical Problems in Engineering

uzm

md

zme
zmd u

me

Figure 5: Graphical representation of the dead zone.

identification in proportional directional pneumatic valves. It is based on observing the

dynamic behavior of the pressure in the valve gaps. The dead zone nonlinearity is a key
factor that limits both static and dynamic performance in feedback control of fluid power
systems. The usual method to cancel the harmful effects of dead zone is to add its fixed
inverse function into the controller. This inverse is modeled by a set of parameters that need to
be identified. The classic dead zone parameter identification uses expensive flow transducers
and special test rig, while our proposed methodology needs only the pressure transducers
shown in Figure 1. Experimental results are presented in Valdiero et al. 6 and illustrate the
efficacy of this methodology that is cheaper and faster.

3.2. Mass Flow Rate

According to Rao and Bone 1, the mass flow rate model of the proportional valve is a key
part of the system model. In this paper, we use an innovator model to mass flow rate equation
qma and qmb developed by Endler 7, given by equations

   
qma u, pa  g1 pa , signu arc tg2u,
    3.2
qmb u, pb  g2 pb , signu arc tg2u,

where g1 and g2 are signal functions given by

⎧ 
  ⎨ psup − pa βench if u ≥ 0,
g1 pa , signu  βΔpa  
⎩ p − p βesv if u < 0,
a atm
⎧  3.3
  ⎨ psup − pb βench if u < 0,
g2 pb , signu  βΔpb  
⎩ p − p βesv if u ≥ 0,
b atm
Mathematical Problems in Engineering 7

×10−3 Pressure difference to 6 × 105 (Pa)

8
6
0.01
Mass flow rate (kg/s)

Mass flow rate (kg/s)

4
0.005 2
0 0
−2
−0.005
−4
−0.01 −6
Pr 0 −8
ess 2
ure −10
diff 4 5 10
(P ere × 6 −10 −5 0 −10 −8 −6 −4 −2 0 2 4 6 8 10
a) nc 10 5 (V)
e Signal u Signal u (V)
a b

Figure 6: Fitted model of mass flow rate.

where psup is the supply pressure, patm is the atmospheric pressure, and βench and βesv are the
constant coefficients.
Equations 3.2 are a fitting of a surface obtained experimentally 5, 7 in the test rig of
Figure 1, considering that the piston is stopped; in that way, the volume is constant, and the
speed of the piston is null. The mass flow rates at different pressures and valve input voltages
were first estimated from the pressure versus time responses obtained for step inputs in valve
voltage and a fixed piston position.
The fitted mass flow rate in valve orifice, qma , is plotted versus input voltage and
pressure difference in Figure 6.
Rao and Bone 1 used a second-order bipolynomial equation to fit this function. In
a similar way, Perondi 10 used a third-order polynomial one. Bobrow and McDonell 17
use a curve fit for the change in internal energy as a function of cylinder pressure which is
quadratic in u. One of the greatest problems in these equations found in the literature is the
difficulty in isolating the signal u, necessary when a control methodology that considers the
nonlinear characteristics of the system is used. Equations to mass flow rate proposed by Ritter
et al. 5 are innovations that have advantages as easiness of computational implementation
and differentiation.

3.3. Pressure Dynamics

The cylinder used in this modeling is symmetric and without spindle. In mathematical
modeling, the pressure changes in the chambers are obtained using energy conservation laws.
Figure 7 shows a schematic drawing of cylinder used.
The relationship between the air mass flow rate and the pressure changes in the
chambers is obtained using energy conservation laws. According to Perondi 10, the energy
balance yields

pa dVa 1 d 
qma T −  pa V a , 3.4
Cp dt γ R dt
8 Mathematical Problems in Engineering

qma −qmb

pa Pb

Va0 Vb0

Figure 7: Cylinder’s schematic drawing.

where T is the air supply temperature, qma is the air mass flow rate into chamber A, pa is the
absolute pressure in chamber A, Cp is the specific heat of the air at constant pressure, Cv is
the specific heat of the air at constant volume, γ  Cp /Cv is the ratio between the specific heat
values of the air, R is the universal gas constant, and V̇a  dVa /dt is the volumetric flow
rate. Assuming that the mass flow rates are nonlinear functions of the servo valve control
voltage u and of the cylinder pressures, that is, qma  qma pa , u and qmb  qmb pb , u, the
total volume of chamber A is given by

Va  Ay
Va0 , 3.5

where A is the cylinder cross-sectional area, y is the piston position, and Va0 is the initial
volume of air in the line and at the chamber A extremity, including the pipeline. The change
rate for this volume is V̇a  Aẏ, where ẏ is the piston velocity.
In this manner, calculating the derivative term in the right hand side of 3.4, and using
Cp  γ R/γ − 1, we can solve this equation to obtain

Aγ ẏ Rγ T  
ṗa  − pa
qma pa , u . 3.6
Ay
Va0 Ay
Va0

Similarly, for chamber B of the cylinder, we obtain

Aγ ẏ Rγ T  
ṗb  pb − qmb pb , u . 3.7
Vb0 − Ay Vb0 − Ay

Note that the pressure dynamics in chambers A and B, ṗa and ṗb , given by 3.6 and
3.7, are functions of piston position y, piston velocity ẏ, and mass flow rate qm . Figure 8
shows numerical simulation results presented in Endler 7 for constant mass flow rate input,
where pa and pb as a function of time are illustrated. The pressure curves in the cylinder’s
chambers for the control signal u  2 volts are observed, where the valve is opened, so that
its “b” port is connected to the atmosphere.
Mathematical Problems in Engineering 9

×105
7

Pressure (Pa) 4

1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (s)

Pressure dynamics in chamber A

Pressure dynamics in chamber B

Figure 8: The numerical study of pressure dynamics behaviour in pneumatic cylinder’s chambers.

More detailed study of 3.6 and 3.7 is presented in Bobrow and McDonell 17,
Perondi 10 and Ritter et al. 5.

3.4. Friction Dynamics in Motion Equation

Applying Newton’s second law to the piston-load assembly results in

Mÿ
Fatr  Fp , 3.8

where M is the mass of the piston-load assembly, ÿ is the cylinder acceleration, Fatr is the
friction force, and Fp is the pneumatic force related to the pressure difference between the
two sides of the piston, that is given by Apa − pb .
In this section, the dynamic model to friction is based on the microscopic deformation
of asperities in surface contact. It is possible to perceive an evolution in friction models that
are based on the asperity microscopic deformations and depicted in recent papers.
The Dahl model describes friction in the presliding movement phase, in a similar
way to the rigid spring with damping behavior, but it has not included the Stribeck friction
effect. The LuGre model, proposed by Canudas de Wit et al. 14, is an improved model that
includes the Stribeck friction and describes many complex friction behaviors but is limited
in the presliding movement phase, according to simulations results presented by Dupont
et al. 15 and experimental tests carried out by Swevers et al. 18. These authors also
propose improvements in LuGre model through the inclusion of a model to hysteresis with
nonlocal memory and sliding-force transition curves in presliding movement phase. This
improved model is named Leuven model and used in friction modeling to a pneumatic servo
positioning system by Nouri et al. 19. Dupont et al. 15 also propose improvements in
10 Mathematical Problems in Engineering

Sliding
body
y

Elastic asperity
w z

Figure 9: Model of body subject to friction force showing elastic z and inelastic w displacement
components.

LuGre model through its interpretation as an elastoplastic friction model that is used in this
paper.
Figure 9 represents the contact between surfaces through a lumped elastic asperity,
considering a rigid body where the displacement y is decomposed into its elastic and plastic
inelastic components z and w.
The friction force is described according to the LuGre friction model proposed by
Canudas de Wit et al. 14. In this model, the friction force is given by

Fatr  σ0 ż
σ1 z
σ2 ẏ, 3.9

where z is a friction internal state that describes the average elastic deflection of the
contact surfaces during the stiction phases, σ0 is the stiffness coefficient of the microscopic
deformations z during the presliding displacement, σ1 is a damping coefficient, σ2 represents
the viscous friction, and ẏ is the velocity.
The dynamics ż of the internal state z is modeled by the equation

dz   σ0  
 ẏ − α z, ẏ   ẏ z, 3.10
dt gss ẏ

where gss ẏ is a positive function that describes the steady-state characteristics of the model
for constant velocity motions and is given by

  2
gss ẏ  Fc
Fs − Fc e−ẏ/ẏs  , 3.11

where Fc is the Coulomb friction force, Fs is the static friction force and ẏs is the Stribeck
velocity. Figure 10 illustrate the behavior of the friction force as a function of velocity in steady
state 8.
Mathematical Problems in Engineering 11

Fatr
Stribeck
friction
Fs

Viscous and drag

friction

Fc
Coulomb friction

Steady-state velocity
Fc

Fs

Figure 10: Friction force characteristics combined in steady state.

The function αz, ẏ is presented according to Dupont et al. 15 and is used to
represent the stiction. This function is defined by equations

 
α z, ẏ
⎧
⎪ if |z| ≤ zba ⎫
⎪
⎪ 0, ⎪
⎪
⎪ ⎪
⎪
⎪
⎪     
⎪
⎪
⎪
⎪ z − zmax ẏ
zba /2  ⎪⎪
⎪
⎨0 < 1 sen π ⎪
  < 1, if zba < |z| < zmax ẏ ⎬  
 2 zmax ẏ − zba , sign ẏ  signz,
⎪
⎪   ⎪
⎪
⎪
⎪ if |z| ≥ zmax ẏ ⎪
⎪
⎪
⎪ 1, ⎪
⎪
⎪
⎪ ⎪
⎪
⎪
⎪   ⎭
⎩0, if sign ẏ /  signz
3.12
 
  gss ẏ
0 < zba < zmax ẏ  , para ∀ẏ ∈ R, 3.13
σ0

where zba is a breakaway displacement, such a way that to z ≤ zba all movements in friction
interface consist in elastic displacements only, and zmax is the maximum value of microscopic
deformations and is velocity dependent.
It is possible to observe that, with z represented by 3.12, when sliding movement is
in steady state, ẏ is constant, αz, ẏ  1, and ż  0. The z states values are given by equation

 
  −ẏ/ẏs 2
ẏ gss ẏ   Fc
Fs − Fc e
zss     sign ẏ . 3.14
ẏ σ0 σ0
12 Mathematical Problems in Engineering

Substituting 3.14 into 3.12, the friction force at steady state is obtained and is
written as:
  2

Fatrss  σ0 zss
σ1 · 0
σ2 ẏ  sign ẏ Fc
Fs − Fc e−ẏ/ẏs 
σ2 ẏ. 3.15

A detailed study of 3.10, 3.11, and 3.15 is presented as follow. The properties
of the friction model given by 3.9 and 3.10 will be explored. To capture the intuitive
properties of the sliding body in Figure 9, the microscopic deformation z should be finite,
that is, as important property, the state z is bounded.

Proof. Consider the following Lyapunov candidate function:

z2
V  , 3.16
2

differentiating and combining with 3.10 and αz, ẏ  1  constant, it can be written as

dV   σ0 · |z|  
 −ẏ  · |z| ·   − sign ẏ · signz , 3.17
dt gss ẏ

where dV/dt is negative if |z| > gss ẏ/σ0 , since gss ẏ is strictly positive and bounded by Fs ,
see 3.11, then the set Ω  {z : |z| ≤ Fs /σ0 } is an invariant set for the solutions of 3.10.
Equation 3.15 is a nonlinear function that represents friction force as a function of
velocity in steady state as was illustrated in Figure 10.
These dynamic properties of friction model presented are shown by Dupont et al. 15
and follow similar analysis carried out by Lyapunov method, as presented by Canudas de
Wit et al. 14 and Canudas de Wit 20. Among model main properties, it is cited that z state
variable is limited and the model is dissipative, satisfies the stick and slip conditions, and
represents adequately the presliding movement phase.
The applied force of Figure 11a was chosen to challenge the stiction capability of
the model; the force ramps up to cause breakaway and then returns to a level below that of
Coulomb friction. Additionally, an oscillation is present and could be introduced by sensor
noise or vibration. The response of friction model is seen in Figure 11b. The friction dynamic
model renders both presliding displacement and stiction.

4. Results
The most common and simple industrial application is a positioning task. By a positioning
task, the objective of bringing the load position to a specified target in the actuator’s curse
is meant. The proposed nonlinear mathematical model of a pneumatic servo position system
was used in computer simulations of three cases of different cylinder size where the desired
target position is 0.045 m.
The pneumatic servo position system model dynamics is given by 3.1, 3.2, 3.6,
3.7, 3.8, 3.9, and 3.10. This model was implemented on the MatLab/Simulink software
of which block diagram is shown in Figure 12 and using parameters presented in Tables 1 and
2. The classic proportional controller P  was chosen because it is easy to implement and has
only one parameter to adjust. Also, the results are easier to see with P controller.
Mathematical Problems in Engineering 13

Apllied force ×10−4 Response of friction

30

Pneumatic force (N) 25

20

Position (m)
15 1

10

0 0
0 2 4 6 8 10 0 2 4 6 8 10
Time (s) Time (s)
a b

Figure 11: Applied force in pneumatic actuator and position response in both presliding displacement and
stiction.

Table 1: The system parameters used in the numerical simulations.

Parameter value Description

psup  7 × 105 Pa Supply pressure
patm  1 × 105 Pa Atmospheric pressure
R  287 Jkg/K Gas constant
T  293 K Temperature of supply air
γ  1.4 Specific heat ratio, dimensionless
M  10.125 kg Mass
βench  0.69501 × 10−8 Constant coefficient to fill up
βesv  0.898105 × 10−8 Constant coefficient to deflate
σ0  0.5 × 106 N/m Stiffness coefficient
σ1  400 Ns/m Damping coefficient
σ2  46.532 Ns/m Viscous friction coefficient
Fc  23.103 N Coulomb friction force
Fs  24 N Static friction force
y˙s  0.010 m/s Stribeck velocity

The choice curse length for case c in Table 2 is determined in such a way that it results
in the same chamber volume of the case a. It is a good idea because the chamber volume
has a great influence in pressure dynamics given by 3.6 and 3.7. Results obtained from
feedback control to positioning task simulations are depicted in Figure 13.
We are aiming at a good knowledge of the dynamic behavior for different pneumatic
cylinders in order to see which features contribute to a better performance in a given
engineering application. The results presented in case a outline the faster response with
oscillating and overshoot in actuator position. Also, there are hunting problems that are
oscillations caused by limit cycles around desired position. In many applications as robotics
and aerospace engineering, the faster response is one of the requirements for the positioning
task, and we can design pneumatic positioning systems with smaller cylinder diameter and
increase the supply pressure obtaining necessary actuator force. To solve this overshoot
14 Mathematical Problems in Engineering

yd
yd y
y Fp Fp
0.045 + yd yd
kp u qma pa
Clock − qma Motion
Desired pa
Error Gain pb qmb qmb pb equation
target position
Mass flow Pressures
rate dynamics

Figure 12: Proportional feedback control structure block diagram with nonlinear mathematical model of
pneumatic servo positioning system.

0.08

0.07

0.06

0.05
Position (m)

0.04

0.03

0.02

0.01

0
0 5 10 15
Time (s)

Case (a) Case (c)

Case (b) Target position

Figure 13: Simulation results to positioning task: target position yd  0.045 m, case a cylinder with small
diameter, case b cylinder with large diameter, and case c cylinder with large diameter and small curse
length.

Table 2: The cylinder parameters used in the numerical simulations for different sizes.

Case a Case b Case c Description

d  0.025 m, d  0.060 m, d  0.060 m Diameter
L  1m L  1m L  0.1746 m Curse length
A  4.91 × 10−4 m2 A  2.8 × 10−3 m2 A  2.8 × 10−3 m2 Piston area
Va0  2.5 × 10−4 m3 Va0  1.4 × 10−3 m3 Va0  2.5 × 10−4 m3 Initial volume at chamber A
Vb0  2.5 × 10−4 m3 Vb0  1.4 × 10−3 m3 Vb0  2.5 × 10−4 m3 Initial volume at chamber B

problem, we can use an optimal control design for nonlinear systems as in the work of
Rafikov et al. 12. Also, the friction compensation is especially important, so that there are
no hunting problems 4 and the actuator has an accurate response.
Mathematical Problems in Engineering 15

Despite being slow, the results in case b are very good for some engineering
applications as automatic welding, machining processes, surface finishing, and agricultural
machinery, where application requirements do not permit overshoot, and task velocity is
smaller. In this case, we can design pneumatic positioning systems with larger cylinder
diameter that result in the damping increase, making the system slower. Besides, we can
design a classical feedback control system depending on necessary accuracy in application.
The case c presented dynamic behavior similar to case b, and it shows that the chamber
volume does not have significant influence in this positioning task.

5. Conclusion
This paper presented a full nonlinear mathematical model for pneumatic servo position
system that can be used in numerical simulations to mechanical design and control system
design of industrial applications. There was a bibliographical revision in recent international
literature. However, these works do not address completely all the important nonlinearities
in mathematical model. So, the main paper contribution was to present their nonlinearities
and its complete mathematical modeling with some innovation and application results. The
proposed systematic methodology is important to help researchers in the nonlinear modeling
and precision control success. Future research will include an optimal nonlinear control
strategy to overcome problems of the servo pneumatic system in agricultural machinery
applications with high performance.

Acknowledgments
This work has got the financial support of the Brazilian governmental agencies: FINEP
Financiadora de Estudos e Projetos—Ministério da Ciência e Tecnologia and SEBRAE
Serviço Brasileiro de Apoio às Micro e Pequenas Empresas. The authors also wish to express
their gratitude to CNPq Conselho Nacional de Desenvolvimento Cientı́fico e Tecnológico,
FAPERGS Fundação de Amparo à Pesquisa do Estado do Rio Grande do Sul, and UNIJUÍ.

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