Title :
Global Sliding Mode Variable Structure Control Applied to Pneumatic Servo System
Author :
Yuan, De-hu ; Jin, Hui-Liang ; Meng, Guo-xiang ; Liu, Chun-yuan
Author_Institution :
SMC-SJTU Technol. Center, Shanghai Jiao Tong Univ., Shanghai
Abstract :
The nonlinear friction characteristics in line cylinder pneumatic servo control system are analyzed. The friction can be seen as the disturbance in the global sliding mode variable structure control (SMVSC). The system is robust during the whole response process, by changing controller structure or adjusting control parameters to suppress the disturbance. Numerical simulation shows that the SMVSC scheme has better dynamic and static performance and robustness than that of the PD scheme. Finally, the feasibility of the SMVSC is validated through experiments on the ball & plate XY trajectory pneumatic control system, and it has precise tracking performance.
Keywords :
friction; nonlinear control systems; pneumatic control equipment; robust control; servomechanisms; variable structure systems; SMVSC scheme; adjusting control parameter; ball plate XY trajectory pneumatic control system; controller structure; disturbance suppression; dynamic performance; global sliding mode variable structure control; line cylinder pneumatic servo control system; nonlinear friction; numerical simulation; precise tracking performance; robust control; robust system; robustness; static performance; Control system analysis; Control systems; Friction; Numerical simulation; Process control; Robust control; Robustness; Servomechanisms; Servosystems; Sliding mode control; SMVSC; component; friction compensatiion; pneumatic servo;
Conference_Titel :
Knowledge Acquisition and Modeling Workshop, 2008. KAM Workshop 2008. IEEE International Symposium on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-3530-2
Electronic_ISBN :
978-1-4244-3531-9
DOI :
10.1109/KAMW.2008.4810613
