Featured Demo: Control of Inverted Pendulum with Servo Pneumatics

This is the classic inverted pendulum control problem, but using a pneumatic cylinder as the actuator instead of the more typical servo electric motor. This servo pneumatic system is made possible by the ultra-high speed of Enfield Technologies' proportional valves, coupled with a double-PD (essentially a full-state) fully analog off-the-shelf controller. Items used:

• (1) Enfield Technologies' LS-V05C high-speed proportional valve
• (2) Enfield Technologies' LS-C41 PID analog controllers (only PD configurations actually used)
• (1) Enfield Technologies' LS-C30 sensor interface (for calibration of angle sensor signal)
• (1) 1.25"-bore, 18"-stroke Bimba pneumatic cylinder
• (1) Balluff 450-mm MicroPulse AT-style non-contact position transducer
• (1) BEI 60-deg non-contact angle sensor

Servo-Pneumatic Fast Positioning of Heavy Load

This is a moving mass being shuttled by a standard pneumatic cylinder, using Enfield Technologies' servo-pneumatic systems. In this particular control scheme, we monitor and control both the target position and the differential pressure across the cylinder piston. This allows for a very damped response, even with with very heavy weights. Items used:

• (1) Enfield Technologies' LS-V15C high-speed proportional valve
• (2) Enfield Techologies' LS-C41 PID analog controllers
• (1) Enfield Technologies' LS-C30 sensor interface (for signal calibration of pressure sensors)
• (1) 1.5"-bore, 18"-stroke Bimba standard pneumatic cylinder
• (1) 450-mm Balluff MicroPulse AT-style non-contact position transducer