Modeling, simulation and control of pneumatically actuated stewart platform with input quantization

Boris Andrievsky, Dmitry V. Kazunin, Nikolay V. Kuznetsov, Olga A. Kuznetsova, Gennady A. Leonov, Svetlana M. Seledzhi

Research output

2 Citations (Scopus)

Abstract

The paper is devoted to modeling the Stewart-platform based simulator for training of freight vehicle Kam AZ drivers that is currently under construction by the Transas Co. The car cabin is mounted on the platform for reproducing the desired motions of the cabin. The pneumatic servos are used as the actuators for the Transas simulator. An essential peculiarity of the described Transas simulator is usage of the on-off air valves rather than sliding piston-type selector valves for motion control, which imposes serious restrictions on the control law design. The mathematical model, including motion dynamics and pneumatic actuators is presented. The simulation results for quantized PD control are given.

Original languageEnglish
Title of host publicationProceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014
EditorsDavid Al-Dabass, Marco Vannucci, Athanasios Pantelous, Valentina Colla
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages263-268
Number of pages6
ISBN (Electronic)9781479974115
DOIs
Publication statusPublished - 1 Jan 2014
EventUKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014 - Pisa
Duration: 21 Oct 201423 Oct 2014

Publication series

NameProceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014

Conference

ConferenceUKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014
CountryItaly
CityPisa
Period21/10/1423/10/14

Fingerprint

Stewart Platform
Modeling and Simulation
Quantization
Simulator
Simulators
Actuator
Computer simulation
Pneumatic actuators
Servomotors
Selector
Motion
Motion Control
Motion control
Pistons
Pneumatics
Driver
Railroad cars
Actuators
Mathematical Model
Mathematical models

Scopus subject areas

  • Computational Theory and Mathematics
  • Computer Science Applications
  • Signal Processing
  • Modelling and Simulation

Cite this

Andrievsky, B., Kazunin, D. V., Kuznetsov, N. V., Kuznetsova, O. A., Leonov, G. A., & Seledzhi, S. M. (2014). Modeling, simulation and control of pneumatically actuated stewart platform with input quantization. In D. Al-Dabass, M. Vannucci, A. Pantelous, & V. Colla (Eds.), Proceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014 (pp. 263-268). [7154009] (Proceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMS.2014.62
Andrievsky, Boris ; Kazunin, Dmitry V. ; Kuznetsov, Nikolay V. ; Kuznetsova, Olga A. ; Leonov, Gennady A. ; Seledzhi, Svetlana M. / Modeling, simulation and control of pneumatically actuated stewart platform with input quantization. Proceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014. editor / David Al-Dabass ; Marco Vannucci ; Athanasios Pantelous ; Valentina Colla. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 263-268 (Proceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014).
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title = "Modeling, simulation and control of pneumatically actuated stewart platform with input quantization",
abstract = "The paper is devoted to modeling the Stewart-platform based simulator for training of freight vehicle Kam AZ drivers that is currently under construction by the Transas Co. The car cabin is mounted on the platform for reproducing the desired motions of the cabin. The pneumatic servos are used as the actuators for the Transas simulator. An essential peculiarity of the described Transas simulator is usage of the on-off air valves rather than sliding piston-type selector valves for motion control, which imposes serious restrictions on the control law design. The mathematical model, including motion dynamics and pneumatic actuators is presented. The simulation results for quantized PD control are given.",
keywords = "Modeling, PD quantized control, Pneumatic servo, Simulator, Stewart platform",
author = "Boris Andrievsky and Kazunin, {Dmitry V.} and Kuznetsov, {Nikolay V.} and Kuznetsova, {Olga A.} and Leonov, {Gennady A.} and Seledzhi, {Svetlana M.}",
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Andrievsky, B, Kazunin, DV, Kuznetsov, NV, Kuznetsova, OA, Leonov, GA & Seledzhi, SM 2014, Modeling, simulation and control of pneumatically actuated stewart platform with input quantization. in D Al-Dabass, M Vannucci, A Pantelous & V Colla (eds), Proceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014., 7154009, Proceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014, Institute of Electrical and Electronics Engineers Inc., pp. 263-268, Pisa, 21/10/14. https://doi.org/10.1109/EMS.2014.62

Modeling, simulation and control of pneumatically actuated stewart platform with input quantization. / Andrievsky, Boris; Kazunin, Dmitry V.; Kuznetsov, Nikolay V.; Kuznetsova, Olga A.; Leonov, Gennady A.; Seledzhi, Svetlana M.

Proceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014. ed. / David Al-Dabass; Marco Vannucci; Athanasios Pantelous; Valentina Colla. Institute of Electrical and Electronics Engineers Inc., 2014. p. 263-268 7154009 (Proceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014).

Research output

TY - GEN

T1 - Modeling, simulation and control of pneumatically actuated stewart platform with input quantization

AU - Andrievsky, Boris

AU - Kazunin, Dmitry V.

AU - Kuznetsov, Nikolay V.

AU - Kuznetsova, Olga A.

AU - Leonov, Gennady A.

AU - Seledzhi, Svetlana M.

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N2 - The paper is devoted to modeling the Stewart-platform based simulator for training of freight vehicle Kam AZ drivers that is currently under construction by the Transas Co. The car cabin is mounted on the platform for reproducing the desired motions of the cabin. The pneumatic servos are used as the actuators for the Transas simulator. An essential peculiarity of the described Transas simulator is usage of the on-off air valves rather than sliding piston-type selector valves for motion control, which imposes serious restrictions on the control law design. The mathematical model, including motion dynamics and pneumatic actuators is presented. The simulation results for quantized PD control are given.

AB - The paper is devoted to modeling the Stewart-platform based simulator for training of freight vehicle Kam AZ drivers that is currently under construction by the Transas Co. The car cabin is mounted on the platform for reproducing the desired motions of the cabin. The pneumatic servos are used as the actuators for the Transas simulator. An essential peculiarity of the described Transas simulator is usage of the on-off air valves rather than sliding piston-type selector valves for motion control, which imposes serious restrictions on the control law design. The mathematical model, including motion dynamics and pneumatic actuators is presented. The simulation results for quantized PD control are given.

KW - Modeling

KW - PD quantized control

KW - Pneumatic servo

KW - Simulator

KW - Stewart platform

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T3 - Proceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014

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BT - Proceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014

A2 - Al-Dabass, David

A2 - Vannucci, Marco

A2 - Pantelous, Athanasios

A2 - Colla, Valentina

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Andrievsky B, Kazunin DV, Kuznetsov NV, Kuznetsova OA, Leonov GA, Seledzhi SM. Modeling, simulation and control of pneumatically actuated stewart platform with input quantization. In Al-Dabass D, Vannucci M, Pantelous A, Colla V, editors, Proceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 263-268. 7154009. (Proceedings - UKSim-AMSS 8th European Modelling Symposium on Computer Modelling and Simulation, EMS 2014). https://doi.org/10.1109/EMS.2014.62