Speed Servo Control of Pneumatic Manipulator Based on Sliding Mode Variable Structure Control

摘要：

　　For a series of non-linear factors of compression,friction,air pressure and load changing in the pneumatic system,it impact seriously on low-speed precision and stability of the pneumatic servo system.As the sliding mode variable structure has a good anti-interference ability and capacity of the model parameter perturbation,in this paper we use the above control strategy to solve the unmodeled part of the pneumatic system dynamics and bounded disturbances,so it can improve accuracy and stability of the aerodynamic servo system.The simulation results indicate that the system combined with sliding mode variable structure strategy has better anti-jammingcapability and response speed than the traditional PID control strategy.

关键词： Pneumatic manipulator Speed servo control system Sliding mode variable structure Dynamic performance Simulation analysis

作者: Hao Zeng Rui-Bo Yuan Zu-shun He Peng Yi

作者单位: Institute of Optical Hydromechatronics System Integration and Control Engineering,Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650093,China

会议类型: 国际会议

会议名称: the 16th International Conference on Fluid Dynamic and Mechanical & Electrical Control Engineering (第16届流体动力与机电控制工程国际学术会议 (FDMECE2012))

会议地点: 重庆

会议语种:英文

页码: 158-162

在线出版日期: 2012-11-10（万方平台首次上网日期，不代表论文的发表时间）