Research on pneumatic position servo control strategy and DSP controller

Abstract

The high-accuracy trajectory tracking pneumatic position servo system proposed in this paper mainly consists of a cylinder which is controlled by a proportional directional control value. Due to there exist large extent of parametric uncertainties and severe uncertain nonlinearities in the pneumatic system, an adaptive robust control strategy was constructed, which employs on-line recursive least squares estimation to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodeled dynamics and disturbances. Since the system model uncertainties are unmatched, the recursive backstepping design technology was applied. After the control strategy validated on dSPACE control system, was transplanted into DSP controller. Experimental results were presented to illustrate the excellent achievable performance of the controller.