A pneumatic servomotor consisting of a 4-way control valve and double-acting ram is analyzed to determine the effective use of this system for continuous control of ram motion. Special emphasis is placed on studying the dynamic behavior of the fluid in the ram chambers and the pressure-flow characteristics of the control valve. Comparisons are made of the measured and theoretical characteristics of a typical control valve. The results of a simple experiment with a control valve and tank determine the validity of the ram-chamber analysis. A subsequent paper will show how the complete servomotor system, including mass load, is analyzed for its response to small changes of valve opening and to changes of external load force, and a simple electronic analog of the system is used to study means of providing adequate system damping.
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J. L. Shearer (1956) studied this question.