Abstract
Currently, a significant trend in control in robotic systems is developing and improving linear and nonlinear control algorithms to improve the overall quality of production with high accuracy and adaptability. The present study considers a synergistic synthesis of throttle control of a pneumatic distributor valve and backpressure control for piston rod positioning. The article presents the synthesis of control laws for the position of a pneumatic cylinder piston using the method of analytical design of aggregated regulators (ADAR) of synergetic control theory (STC), which allows operation with nonlinear mathematical models, eliminating the loss of information about the object during linearization. A comparative calculation of the energy efficiency of backpressure control and throttle control methods was carried out, while the numerical value of the total airflow with throttle control is 0.0569 m3⁄s and, with backpressure control, it is 0.0337 m3⁄s. Using a P controller in a linear model gives a transient oscillatory process damped in 2–2.5 s. When using a PID controller, the process has an overshoot equal to 11.5%, while the synergistic controller allows you to smoothly move the drive stem to a given position without overshoot. The parametric uncertainty analysis of the considered mathematical model is carried out. The model’s main parameters are identified, which change the actual functioning of the system under study. The inconsistency of applying classical control laws based on typical controllers to parametrically indeterminate mathematical models is shown.
Highlights
In recent years, an important trend in control in robotic systems has been developing and improving algorithms for linear and nonlinear control to enhance the overall quality of production with high accuracy and high adaptability [1,2,3]
Since the typical control laws are applicable to the class of linear one-dimensional control systems, the MM electro-pneumatic system (EPS) (1) linearization was carried out using the Maple package
The article poses a technological problem of controlling the position of the piston of a pneumatic cylinder, which is carried out by synthesizing nonlinear synergetic control laws based on the aggregated regulators (ADAR) method
Summary
An important trend in control in robotic systems has been developing and improving algorithms for linear and nonlinear control to enhance the overall quality of production with high accuracy and high adaptability [1,2,3]. There are difficulties associated with the need to consider external disturbances and changes in the parameters of the dynamic model described by nonlinear differential equations. The analysis showed [4,5,6] that, when synthesizing algorithms for controlling pneumatic systems, the developer is faced with a rather complex analytical description of thermodynamic processes associated with the nonlinear movement of air passing through the holes of the pneumatic distributor. These assumptions are used to linearize “inconvenient” nonlinear dependencies [7,8], reduce the system dimension, and introduce additional correction factors and further research of the linear pneumatic system
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