基于MIMO滑模的气动伺服系统控制

MIMO Sliding Mode Control for Pneumatic Servo System

针对非线性气动伺服系统的轨迹跟踪和柔顺控制问题,采用MIMO滑模控制器实现气动系统多输出的跟踪控制。对气动伺服系统基于流量控制策略的动力学进行建模,将其状态方程转换为严格反馈系统形式;设计用于轨迹跟踪和内腔压力跟踪的双滑模面,基于传统的滑模控制率构造用于气动系统的双控制输入,实现气动系统控制器的设计。基于Simulink搭建控制仿真平台,仿真结果验证了控制器对系统多输出的有效跟踪控制。

Regarding trajectory tracking and compliance control of nonlinear pneumatic servo system,MIMO sliding mode controller is used to realize multi output tracking control of pneumatic system.The dynamic model of pneumatic servo system based on flow control strategy is established,and its state equation is transformed into strict feedback system form.A dual sliding mode surface for trajectory tracking and cavity pressure tracking is designed.Based on the traditional sliding mode control rate,a dual control input for pneumatic system is constructed to realize the design of pneumatic system controller.Based on Simulink,the simulation is conducted,whose results verify the effectiveness of tracking control by the controller on the system's multiple outputs.