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Sustainable Construction and Design <strong>2011</strong> Figure 7. Step response - 0-50 mm The evaluation of the second test (Figure 7.) sheds light on the limits of our positioning system, given that in the case of the settling to the 50 mm reference signal a significant overshoot was observed. This is the consequence of the fact that the chamber filling at the adjusted supply pressure is fast and because of this the acceleration of the low-friction cylinder piston is too great to be followed by the control system. This is the consequence of the operating limits of valves with long switching time. The deceleration of the piston movement, i.e. the closing of the ventilated chamber begins later than would be ideal, which is why the significant overshoot and the same settling time appear. It is important to be noted though, that all these do not influence the positioning accuracy, i.e. the steady-state error is equivalent to the travel resolution of the displacement encoder. Figure 8. Step response - 0-90 mm At the third measurement (Figure 8.) we have examined a displacement which is long compared to the stroke length of the cylinder by setting the reference signal at 90 mm. It is visible that in the case of large step size the control method is able to follow the dynamics of the cylinder, the overshoot is minimal while the settling time is 1 second. The steady-state error is again equivalent to the travel resolution of the displacement encoder. After this we examined the movement of the piston in the negative direction, namely when it moves backwards into the cylinder. 148 Copyright © <strong>2011</strong> by Laboratory Soete
Sustainable Construction and Design <strong>2011</strong> Figure 9. Step response - 100-10 mm In the course of the fourth test at Figure 9. we can see a displacement similarly great to the previous experiment, but in the negative direction. The overshoot is minimal, and the settling time is still under 2 seconds. The steady-state error is once again equivalent to the resolution of the displacement encoder. Figure 10. Step response - 100-50 mm The fifth measurement (Figure 10.) examined a movement in the negative direction the scale of which is 50% of the stroke length of the piston. It is visible that an overshoot similar to that of the second testing appears. The steady-state error is minor, and in this case the settling time is exceptionally good, which is partly due to the fact that the piston moves faster in the negative direction because of the asymmetric construction of the cylinder. 149 Copyright © <strong>2011</strong> by Laboratory Soete
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