With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potentia...With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental performance, as compared with some existing methods. results show that the designed controller can achieve better tracking展开更多
A new intelligent control method for welding positioner is proposed. Applying an improved fuzzy controller and a variable PID controller, a two-mode intelligent coordinating controller ( TMICC ) is designed on basis o...A new intelligent control method for welding positioner is proposed. Applying an improved fuzzy controller and a variable PID controller, a two-mode intelligent coordinating controller ( TMICC ) is designed on basis of fuzzy logic and rules. The simulation and experimental results show that this control system can obtain better dynamic and static characteristics.展开更多
Sliding mode control （SMC） has been widely investigated in recent years. In this paper, a class of second- order SMC is proposed and used to achieve good tracking performance in servo systems. SMC has good robustnes...Sliding mode control （SMC） has been widely investigated in recent years. In this paper, a class of second- order SMC is proposed and used to achieve good tracking performance in servo systems. SMC has good robustness to the disturbances, but conventional SMC uses a sign function to drive the error on the sliding surface, which could generate chattering effect. In order to avoid this problem, our improved SMC uses the integral of the sign function. Coupled with an exponential reaching law, the new SMC can better suppress torque disturbances and chatter, This paper first gives the derivation of the new SMC. Simulation and experimental results are then carried out to demonstrate its tracking performance and robustness against torque disturbance and chatter.展开更多
基金Supported by National Key Scientific and Technological Project(Grant No.2010ZX04001-051-031)Key Program of National Natural Science Foundation of China((Grant No.61533014)the Innovative Research Team of Shaanxi Province,China(Grant No.2013KCT-04)
文摘With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental performance, as compared with some existing methods. results show that the designed controller can achieve better tracking
文摘A new intelligent control method for welding positioner is proposed. Applying an improved fuzzy controller and a variable PID controller, a two-mode intelligent coordinating controller ( TMICC ) is designed on basis of fuzzy logic and rules. The simulation and experimental results show that this control system can obtain better dynamic and static characteristics.
基金supported by the Hong Kong Innovation and Technology Fund (No. ITS/005/01)the National Natural Science Foundation of China (No. 51005086)the Fundamental Research Funds for the Central Universities (No. 2010MS085)
文摘Sliding mode control （SMC） has been widely investigated in recent years. In this paper, a class of second- order SMC is proposed and used to achieve good tracking performance in servo systems. SMC has good robustness to the disturbances, but conventional SMC uses a sign function to drive the error on the sliding surface, which could generate chattering effect. In order to avoid this problem, our improved SMC uses the integral of the sign function. Coupled with an exponential reaching law, the new SMC can better suppress torque disturbances and chatter, This paper first gives the derivation of the new SMC. Simulation and experimental results are then carried out to demonstrate its tracking performance and robustness against torque disturbance and chatter.
