Title :
A Sliding Mode Variable Structure Control Approach for a Pneumatic Force Servo System
Author :
Li, Ruihua ; Meng, Guoxiang ; Feng, Zhengjin ; Li, Yijie ; Shi, Weixiang
Author_Institution :
Mechatronics & Control Inst., Shanghai Jiaotong Univ.
Abstract :
A sliding mode control (SMC) approach was used in a pneumatic force control servo-system with uncertainties and external disturbances in this paper. To reach exact force control in pneumatic force servo-system, the E/P pressure proportional valve was used as an electro-pneumatic converter in constructing an electro-pneumatic force control servo system. The dynamic model of the pneumatic force servo system was built firstly, and then a boundary layer approach was used to the design of controller, in which using a saturation function to substitute for the sign function based on Lyapunov theory. Finally, the performance of the controller was simulated and tested. The results show that the system performance has been much improved when compared with a conventional PID controller, and it has a good control precision and robustness
Keywords :
Lyapunov methods; force control; pneumatic systems; servomechanisms; stability; variable structure systems; Lyapunov theory; boundary layer approach; control precision; controller design; dynamic model; electro-pneumatic converter; electro-pneumatic force control servo system; pneumatic force control servo-system; robustness; saturation function; sliding mode variable structure control; Control systems; Electric variables control; Force control; Servomechanisms; Sliding mode control; System performance; Testing; Three-term control; Uncertainty; Valves; boundary layer approach; lyapunov theory; pneumatic servo system; saturation function; sliding mode control;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713567
