Development and analysis of low-cost wearable servo valve using buckled tubes and embedded controller

In this study, a small-size, lightweight and low cost servo valve is developed to replace the typical solenoid valve. As an inexpensive method of changing the opening area of the valve, the method of changing, the buckling condition of the tube using a RC, servo motor is proposed. 3-port twisting t...

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Main Author:	Abdul Nasir, Abd Ghafar
Format:	Thesis
Language:	English
Published:	2016
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/17610/16/Development%20and%20analysis%20of%20low-cost%20wearable%20servo%20valve%20using%20buckled%20tubes%20and%20embedded%20controller.pdf
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spelling	my-ump-ir.176102021-12-07T06:19:48Z Development and analysis of low-cost wearable servo valve using buckled tubes and embedded controller 2016 Abdul Nasir, Abd Ghafar TS Manufactures In this study, a small-size, lightweight and low cost servo valve is developed to replace the typical solenoid valve. As an inexpensive method of changing the opening area of the valve, the method of changing, the buckling condition of the tube using a RC, servo motor is proposed. 3-port twisting type valve is also proposed and tested to adjust its supply ,and ,exhauststates -at thesame time. .In order to decrease its non-linear characteristics in relation between output flow rate and motor rotational angle, a new 3-port bending type servo valve that has smaller hysteresis characteristics and smaller overlap zone is proposed. Furthermore, position control of rubber artificial muscle using twisting and bending I type valve are carried out. As a result, the standard deviation of positioning errors using bending type valve is improved from 2.0 mm to 0.9 mm. Also, pressure controlled type servo valve is proposed. By using bending type valve with smaller dead zone the dead time of the valve is decreased. From the pressure tracking control result, the improved bandwidth frequency of 4.1 Hz was obtained compared with the previous pressure controlled twisting type valve that is 2.2 Hz. Therefore, the validity and better performance of bending type valve was confirmed. For optimal design of the valve analytical model of the valve with embedded controller is proposed. The system parameters are also identified. Especially the relations between the buckling angle with respect to the restoration torque and the tubes opening area are assumed as empirical formula from experimental results. In order to confirm the validity of the proposed model and identified parameters of the valve, the calculated statics and dynamics behaviors of the valve model is compared with the experimental results. It is obtained that the calculated results using the model agree well with the experimental results. It can be concluded that the proposed model and identified parameters are useful to estimate the performance of the valve by changing the arrangement of two buckled tubes. Moreover, in order to obtain the optimal arrangement of buckled tube, the calculation results of pressure tracking control performance using the valve with various arrangements of two buckled tubes is carried out. Thus, the optimal design parameter of buckling point and the initial buckled angle of tubes and optimal control gain can be obtained. Based on the calculated transient response of tracking pressure using the optimal values, it can be confirmed that the valve performance with optimal design parameters can be theoretically improved. 2016 Thesis http://umpir.ump.edu.my/id/eprint/17610/ http://umpir.ump.edu.my/id/eprint/17610/16/Development%20and%20analysis%20of%20low-cost%20wearable%20servo%20valve%20using%20buckled%20tubes%20and%20embedded%20controller.pdf pdf en public phd doctoral Okayama University of Science School of Engineering Systems Science
institution	Universiti Malaysia Pahang Al-Sultan Abdullah
collection	UMPSA Institutional Repository
language	English
topic	TS Manufactures
spellingShingle	TS Manufactures Abdul Nasir, Abd Ghafar Development and analysis of low-cost wearable servo valve using buckled tubes and embedded controller
description	In this study, a small-size, lightweight and low cost servo valve is developed to replace the typical solenoid valve. As an inexpensive method of changing the opening area of the valve, the method of changing, the buckling condition of the tube using a RC, servo motor is proposed. 3-port twisting type valve is also proposed and tested to adjust its supply ,and ,exhauststates -at thesame time. .In order to decrease its non-linear characteristics in relation between output flow rate and motor rotational angle, a new 3-port bending type servo valve that has smaller hysteresis characteristics and smaller overlap zone is proposed. Furthermore, position control of rubber artificial muscle using twisting and bending I type valve are carried out. As a result, the standard deviation of positioning errors using bending type valve is improved from 2.0 mm to 0.9 mm. Also, pressure controlled type servo valve is proposed. By using bending type valve with smaller dead zone the dead time of the valve is decreased. From the pressure tracking control result, the improved bandwidth frequency of 4.1 Hz was obtained compared with the previous pressure controlled twisting type valve that is 2.2 Hz. Therefore, the validity and better performance of bending type valve was confirmed. For optimal design of the valve analytical model of the valve with embedded controller is proposed. The system parameters are also identified. Especially the relations between the buckling angle with respect to the restoration torque and the tubes opening area are assumed as empirical formula from experimental results. In order to confirm the validity of the proposed model and identified parameters of the valve, the calculated statics and dynamics behaviors of the valve model is compared with the experimental results. It is obtained that the calculated results using the model agree well with the experimental results. It can be concluded that the proposed model and identified parameters are useful to estimate the performance of the valve by changing the arrangement of two buckled tubes. Moreover, in order to obtain the optimal arrangement of buckled tube, the calculation results of pressure tracking control performance using the valve with various arrangements of two buckled tubes is carried out. Thus, the optimal design parameter of buckling point and the initial buckled angle of tubes and optimal control gain can be obtained. Based on the calculated transient response of tracking pressure using the optimal values, it can be confirmed that the valve performance with optimal design parameters can be theoretically improved.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Abdul Nasir, Abd Ghafar
author_facet	Abdul Nasir, Abd Ghafar
author_sort	Abdul Nasir, Abd Ghafar
title	Development and analysis of low-cost wearable servo valve using buckled tubes and embedded controller
title_short	Development and analysis of low-cost wearable servo valve using buckled tubes and embedded controller
title_full	Development and analysis of low-cost wearable servo valve using buckled tubes and embedded controller
title_fullStr	Development and analysis of low-cost wearable servo valve using buckled tubes and embedded controller
title_full_unstemmed	Development and analysis of low-cost wearable servo valve using buckled tubes and embedded controller
title_sort	development and analysis of low-cost wearable servo valve using buckled tubes and embedded controller
granting_institution	Okayama University of Science
granting_department	School of Engineering Systems Science
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/17610/16/Development%20and%20analysis%20of%20low-cost%20wearable%20servo%20valve%20using%20buckled%20tubes%20and%20embedded%20controller.pdf
_version_	1783732020337180672

Development and analysis of low-cost wearable servo valve using buckled tubes and embedded controller

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