NDLI: Force and Position Control of a Solenoid Injected Monopropellant Powered Actuator

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Bobby, L. Shields Goldfarb, Michael Fite, Kevin
Copyright Year	2004
Abstract	This paper describes the control of a direct-injection, liquid monoproplellant powered actuation system, which was developed for the purpose of providing mechanical power to autonomous human-scale robots. The actuation system utilizes the catalytic decomposition of a monopropllant as a hot gas generator for powering a pneumatic actuator. Pressurization of the respective sides of a pneumatic actuator. is provided via solenoid injection valves, which control the flow of the monopropellant through a catalyst pack into the respective sides of the cylinder. Depressurization is provided by a three-way proportional spool valve, which proportionally exhausts one of the two cylinder chambers. This paper describes a controller that coordinates the control of the two discrete injection valves, together with the control of the proportional exhaust valve, in order to provide actuator force tracking. The controller is implemented on a prototype system with a closed-loop servo controller. Experimental results indicate effective position and force tracking.
Sponsorship	Dynamic Systems and Control Division
Starting Page	377
Ending Page	384
Page Count	8
File Format	PDF
ISBN	0791847063
DOI	10.1115/IMECE2004-59442
Volume Number	Dynamic Systems and Control, Parts A and B
Conference Proceedings	ASME 2004 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2004-11-13
Publisher Place	Anaheim, California, USA
Access Restriction	Subscribed
Subject Keyword	Actuators Catalysts Position control Control equipment Valves Generators Solenoids Flow (dynamics) Exhaust systems Pneumatic actuators Servomechanisms Engineering prototypes Robots Cylinders
Content Type	Text
Resource Type	Article

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