A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads.
作者： Hao-Ting Lin
DOI: 10.3390/S17061283
关键词: Control theory 、 Servomechanism 、 Engineering 、 Simulation 、 Position sensor 、 Servo bandwidth 、 Electrohydraulic servo valve 、 Pneumatic actuator 、 Air compressor 、 Servo control 、 Control theory
摘要: This project aims to develop a novel large stroke asymmetric pneumatic servo system of hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by compressor is utilized proportional valve drive rod-less actuator. Due differences between two chambers, actuator will operate. The highly nonlinear mathematical models were analyzed and developed. functional approximation technique sliding mode controller (FASC) developed as solve uncertain time-varying was main unit proposed establish driver blocks analog digital I/O, linear encoder, CPU By position sensor, signals cylinder be measured immediately. viewed feedback study positioning control. Finally, with measuring system, data acquisition strategy software implemented. Thus, upgrading high precision trajectory performance realized promote capability. Experimental results show that fifth order paths in various strokes sine wave are successfully implemented test rig. Also, different angle experimentally.
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