Nonlinear Mathematical Modeling in Pneumatic Servo Position Applications

Table 1

The system parameters used in the numerical simulations.

Parameter value	Description
𝑝sup=7×10^5 Pa	Supply pressure
𝑝atm=1×10^5 Pa	Atmospheric pressure
𝑅=287 Jkg/K	Gas constant
𝑇=293 K	Temperature of supply air
𝛾=1.4	Specific heat ratio, dimensionless
𝑀=10.125 kg	Mass
𝛽^ench=0.69501×10^−8	Constant coefficient to fill up
𝛽^esv=0.898105×10^−8	Constant coefficient to deflate
𝜎0=0.5×10^6 N/m	Stiffness coefficient
𝜎1=400 Ns/m	Damping coefficient
𝜎2=46.532 Ns/m	Viscous friction coefficient
𝐹𝑐=23.103 N	Coulomb friction force
𝐹𝑠=24 N	Static friction force
𝑦𝑠̇=0.010 m/s	Stribeck velocity