Robust Positioning Control of Pneumatic Servo System with Pressure Control Loop
نویسندگان
چکیده
The goal of this paper is to attain a robust positioning control of pneumatic driving system. A positioning control system positively focusing on the pressure control is investigated, from the view that the pressure control is indispensable for improvement '7f control performances. A disturbance observer is employed to improve the pressure response and compensate the influence of fnction force and parameter change. Consequently the improvements of robustness against payload and of positioning accuracy have been attained. 2 2.1 Modeling of the plant Construction of the control system A simplified model of pneumatic driving system is shown in Fig.], where p z , p , , p , , p ~ are pressures of left chamber, right one, supply pressure and atmospheric one, respectively. m,b,A,V,T,x, fc,S and G, are mass of table, (damping coefficient, effective sectional area of cylinder, volume of chamber, absolute temperature, control variable(piston position), Coulomb friction force, effective sectional area of valve and mass flow rate oaf air, respectively. f
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