Height Control of Bellows
A BooleanController is used to control the bellows length according to the schedule set in
targetHeight. The orange curve is the measured length of the bellows and the blue curve is the target length schedule as shown in Figure 1. The orange curve follows the target command within the tolerance set by
k in the BooleanController. Transient behavior can be observed before the system finds the equilibrium. By changing pneumatics specification, the controllability can be changed. For instance, change the line diameter to 7.5e-3 m (purple curve in Figure 2). The initial response is faster.
Figure 1 Measured bellows length and target
Figure 2 Effect of change of diameter