Adaptive Backstepping Slide Mode Control of Pneumatic Position Servo System

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

Double Position Servo Synchronous Drive System Based on Cross-Coupling Integrated Feedforward Control for Broacher

Synchronization errors directly deteriorate the machining accuracy of metal parts and the existed method cannot keep high synchronization precision because of external disturbances. A new double position servo synchronous driving scheme based on semi-closed-loop cross- coupling integrated feedforward control is proposed. The scheme comprises a position error cross-coupling feedfor-ward control and a load torque identification with feed- forward control. A digital integrated simulation system for the dual servo synchronous drive system is established. Using a 20 t servo broacher, performance analysis of the scheme is conducted based on this simulation system and the simulation results show that systems with traditional parallel or single control have problems when the work- table works with an unbalanced load. However, the system with proposed scheme shows good synchronous perfor- mance and positional accuracy. Broaching tests are performed and the experimental results show that the maximum dual axis synchronization error of the system is only 8μm during acceleration and deceleration processes and the error between the actual running position and the given position is almost zero. A double position servo synchronous driving scheme is presented based on crosscoupled integrated feedforward compensation control, which can improve the synchronization precision.

Overview of Position Servo Control Technology and Development of Voice Coil Motor

Voice coil motor(VCM) is a special direct drive linear motor, which can convert electric energy directly into mechanical energy without the use of transmission mechanism. VCM has the advantages of simple structure, good rigidity, fast response, silence, high linearity, no cogging force, no pulsation et al. It is widely used in the field of high-precision control. This paper reviews and summarizes the results of VCM research conducted by scholars from various countries, and summarizes the general situation of VCM servo control technology. Firstly, a basic description of VCM’s mathematical model and common control mechanisms is provided. The benefits, drawbacks, and application of control techniques in the field of VCM are all explored in detail;At the same time, the methods to improve control strategy are proposed;Then, combined with the analysis and research of scholars in various countries on VCM, the problems of difficult to establish accurate model, friction disturbance and mechanical vibration of VCM and the solutions to the corresponding problems are summarized;Finally, a summary of VCM’s application fields is provided.

STUDY ON THE CONTROL OF SINGLE PNEUMATIC MUSCLE ACTUATOR

The control of single pneumatic muscle actuator is studied, as one basic partof research on the parallel-robot arthrosis actuated by pneumatic muscle actuators. Experimentsshow that a self-modified fuzzy-PID controller is obviously effective for its position servo and asimple PID controller is good for its force track.

Design of Scale Model Mechanism in Low Speed Wind Tunnel

Motion control can be considered as the synergistic collaboration of mechanical and electrical engineering, computer science and information technology to apply a controlled force to achieve useful motion in fluid or soiled electromechanical systems. With the development of computer, electronics, and automatic control theory, motion control comes to a new stage. Great applications are based on the characteristics, stemming from advantages of electronics and modern control technology achievements, having a very good load matching property. Currently, microprocessor-based controllers are invariably used in most applications of drive electronics. The object of this work is to design a position control mechanism system, which can be used in test section of low speed wind tunnel. System load specifications and performance requirements are given. A comprehensive study of mathematical modeling of the mechanism components is given. Procedure for selection of various components with optimum parameters is discussed. After selection and calculation of system parameters to meet the performance requirements, a PID control method is adopted.