Abstract

TERAN, María A; MENDOZA, Onexi L; DIAZ, José G  and  ARTEAGA, Francisco J. Mathematical modelling of the classic dynamical system of beam and sphere using pneumatic actuatorModelación dinámica y simulación del sistema clásico de viga y esfera mediante accionamiento neumático . Rev. Téc. Ing. Univ. Zulia [online]. 2006, vol.29, n.1, pp.29-39. ISSN 0254-0770.

This research presents a mathematical model of the classic system of beam and sphere using pneumatic actuator. In the work, models are developed for the plant, a pneumatic double effect cylinder and its proportional valve. These models are obtained from the equations of Lagrange, kinematics of mechanisms, the law for the ideal gas, energy equation for an open system, equation of continuity for the mass flow rate, and equation of the nozzle. The non linear effects produced by the compressed air flow dynamics and the friction between the piston and the cylinder walls are considered to develop the model equations. The model is validated by means of simulation in Matlab Simulink.

Keywords : Beam and sphere system; pneumatic double effect cylinder; proportional valve; dynamic mathematical model.