Journal of International Society for Science and Engineering Vol. 3, No. 3, 46-52 (2021) ------------------------------------------------------------------------ ---------------------------------------------------------------------------------------------------------------------------------------------------------------- www.jisse.journals.ekb.eg www.isse.org.eg 46 JISSE ISSN: 2636-4425 JISSE E-ISSN:2682-3438 Identification and Analysis of Servo-Pneumatic System using Mixed Reality Environment Magdy Awad 1,* , Saber A. Rabbo 2 , Mohamed El-Arabi 3 1 Mechatronics Engineering Department, Canadian International College, 5Th Settlement, Cairo 11835, Egypt 2 Department of Mechanical Engineering, Faculty of Engineering at Shoubra, Benha University, Egypt. 3 Department of Design and Production Engineering, Faculty of Engineering, Cairo University, Giza 12613, Egypt A R T I C L E I N F O A B S T R A C T Article history: Received: 02/07/2021 Accepted: 2021-09-01 Online: 2021-09-01 This paper presents a method to control and identify the servo pneumatic system using a mixed reality environment. A mathematical model is presented to study the system dynamics and nonlinear effects of the servo pneumatic system. The auto-regressive moving-average (ARMA) model-based recursive least squares (RLS) algorithm is utilized to identify the transfer function of the servo pneumatic system in a real-time environment. The identification of the servo pneumatic system can be carried out effectively and efficiently using the proposed ARMA model. Furthermore, the high precision to identify the system with minimum error, and reducing the time in adjusting the parameters of the control unit. The discrete transfer function of the servo pneumatic system is identified in real-time from the inputs and outputs data of the system. The identification results showed that the fourth-order system model achieved the minimum square error with one-step prediction. The experimental results showed the accuracy and effectiveness of the proposed method. Keywords: Online system identification. Mixed-reality environment Auto-regressive moving-average Servo pneumatic system 1. Introduction Servo pneumatic systems present an alternative to electric motors and hydraulic systems for industrial applications. Pneumatic systems are generally clean, robust, and reliable in operation. Moore and Pu provided an overview of the growth of servo pneumatic systems technologies [1]. Servo pneumatic systems are considered non-linear systems due to air compressibility, external forces, disturbances, and leakage. Moreover, it is difficult to accurately represent the performance of servo pneumatic systems. Therefore, linear models about the operating points of the non-linear servo pneumatic systems have been presented in [2-5]. The motion control of servo-pneumatic systems has been improved in a lot of previous studies via different advanced control techniques [6-9]. PID controller is widely used in servo pneumatic positioning systems. Recent studies have dealt with different control methods for precise pneumatic positioning in real-time such as PID-based controller [10-15], fuzzy control [16, 17]. Kamaludin, et al. investigated the stability of a PI controller in a servo pneumatic positioning application [18]. In this paper, a method to identify and control electro-pneumatic servo drives in a real-time environment is presented. The Auto-regressive moving-average (ARMA) model is employed to identify the transfer function of the system. PID controller gains are optimized and applied to the simulated model and experimental system. 2. System Description and non-linear mathematical model The pneumatic system consists of an electro-pneumatic servo drive and pneumatic cylinder subjected to the load. Figure 1 illustrates diagrammatically the relationship of the cylinder’s chambers and the inlet connections. 2.1 Modeling of pneumatic valve and actuator Development of a model for a pneumatic valve and actuator requires mathematical relations for the mass flow rate through the valve, the pressure, volume, and temperature of the air in cylinder chambers, and the actuator load dynamics. A typical arrangement of a five-port valve used to control an actuator is shown in Figure 2. The actuator is positioned horizontally so gravity effects can be ignored. * Magdy Awad, Mechatronics Engineering Department, Canadian International College, Cairo, Egypt, +201229853338, magdy_n_ibrahim@cic-cairo.com