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Open-Loop Characterisation of Soft Actuator Pressure Regulated by Pulse-Driven Solenoid Valve

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Yayımlandı:Robotics vol. 14, no. 12 (2025), p. 177-199
Yazar: Serrano-Balbontín, Andrés J
Diğer Yazarlar: Tejado Inés, Vinagre, Blas M, Aphale, Sumeet S, San-Millan, Andres
Baskı/Yayın Bilgisi:
MDPI AG
Konular:
Control algorithms
Experiments
Solenoid valves
Valves
Sensors
Controllers
Resorts & spas
Pulse modulation
Pneumatics
Dynamic models
Pressure dependence
Actuators
Pulse duration modulation
Robotics
Nonlinearity
Pulse frequency modulation
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Özet:Solenoid valves are widely used for pressure regulation in soft pneumatic robots, but their inherent electromechanical nonlinearities—such as dead zones, saturation, and pressure-dependent dynamics—pose significant challenges for accurate control. Conventional pulse modulation techniques, including pulse-width modulation (PWM), often exacerbate these effects by neglecting valve-switching transients. This paper presents a physics-informed dynamic modelling framework that captures transient and pressure-dependent behaviours in solenoid valve-driven soft pneumatic systems operating under pulse modulation. The model is experimentally validated on a soft pneumatic actuator (SPA) platform using four modulation schemes: PWM, integral pulse frequency modulation (IPFM), its inverted variant (IIPFM), and <inline-formula>Δ</inline-formula><inline-formula>Σ</inline-formula> modulation. Results demonstrate that only the IIPFM scheme produces near-linear input–pressure characteristics, in close agreement with model predictions. The proposed framework provides new physical insights into valve-induced nonlinearities and establishes a systematic basis for high-fidelity modelling and control of soft pneumatic robotic systems.
ISSN:2218-6581
DOI:10.3390/robotics14120177
Kaynak:Advanced Technologies & Aerospace Database