Synergetic synthesis of nonlinear robust pneumatic cylinder control laws under parametric uncertainty

The paper analyzes the parametric uncertainty of the considered mathematical model, identifies the main parameters of the model, which undergo changes in the course of the real functioning of the studied pneumatic system. A nonlinear synergistic law for controlling the position of the piston of a pn...

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Bibliographic Details
Main Author: Obukhova, Elena
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Closed loops
Coefficient of friction
Control theory
Feedback control
Mathematical models
Nonlinear control
Parameter identification
Pneumatics
Robust control
Uncertainty
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Summary:The paper analyzes the parametric uncertainty of the considered mathematical model, identifies the main parameters of the model, which undergo changes in the course of the real functioning of the studied pneumatic system. A nonlinear synergistic law for controlling the position of the piston of a pneumatic actuator has been developed, which has robust properties to changing the parameters of the model within the maximum permissible limits. The obtained results of computer modeling confirm the robust properties of the obtained nonlinear synergetic control laws and the achievement of the set technological control goal - moving the rod to a given position under conditions of parametric uncertainty. The robust properties of a closed-loop control system with integral adaptation are considered with an uncontrolled variation of the load mass within: m1 = 0,6 kg and m2 =0,9 kg and variations of the viscous friction coefficient in the following values:) Ƞ1 =101 N · s/m; and Ƞ1 =101 N · s/m.
ISSN:0094-243X
1551-7616
DOI:10.1063/5.0110369