A comprehensive mathematical model of a low-friction servopneumatic actuator

Abstract: This paper presents a comprehensive mathematical model of a servopneumatic system, aimed at its consolidation in literature. The work exploits system's friction forces, temperature and pressure evolution, heat transfer, leakage between chambers and environment, equilibrium of cylinder forces, resistance of the pipes, mass flow rate in valve output, varying area of valve orifices and equilibrium of valve forces. Numerical simulations are performed, where system's elastic behaviour due to the air compressibility is thoroughly exploited.