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Spiking Control of a Solenoid Valve for High-Precision Pressure Regulation in Soft Robotics
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DOI：10.1109/LCSYS.2026.3672133.png)
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Abstract
En 中文
Solenoid valves are widely used for pressure regulation in soft pneumatic robots, yet their intrinsic electromechanical nonlinearities, including dead-zone, saturation, and pressure-dependent dynamics, pose significant challenges for control design. Conventional pulse-modulated strategies, such as pulse-width modulation (PWM), often aggravate these effects by ignoring the transient behaviour associated with valve switching. This work introduces a spiking-based control strategy inspired by neuromorphic principles and specifically tailored for pneumatic pressure regulation in soft actuators. The proposed method uses a neuron-like modulator in cascade with a conventional controller to effectively shape the valve input, intrinsically compensate dead-zone and saturation, and improve the linearity of the pressure dynamics through parameter tuning. A complete experimental validation is conducted on a soft pneumatic actuator (SPA) driven by a solenoid valve, benchmarking the proposed approach against standard pulse-modulation techniques. The results show substantial improvements in both static and dynamic linearity, reduced nonlinear distortions, and enhanced consistency in closed-loop pressure control across operating points.
Keywords:
Valves
Neurons
Solenoids
Pneumatic systems
Regulation
Switches
Linearity
Tuning
Soft robotics
Mathematical models
Biologically-inspired methods
hybrid systems
robotics
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94
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5.0K
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