Anti-windup PID position control of cylinders for a aircraft skin inspection robot with double-layer structure

Aiming at position control problem of the cylinder in a aircraft skin inspection robot with double-layer structure, the dynamics model of the pneumatic proportional position system is established; besides, the anti-windup PID controller is designed when considering the disturbance of the robot caused by the movement of the cylinder, the controller adopts the double-loop control combined by PID and the anti-windup actuator which is composed of immediate, delayed and anticipatory activations, enabling the controller to reduce the overshoot of cylinder during its movement so as to reduce the vibration influence for the robot movement. The simulation is carried out to compare the anti-windup PID controller with conventional PID controller, the result shows that the anti-windup PID controller realizes the position control of the cylinder without overshoot, and effectively restrains the vibration in the process of the robot movement.