Speed Servo Control of Pneumatic Manipulator Based on Sliding Mode Variable Structure Control

摘要

For a series of non-linear factors of compression,friction,air pressure and load changing in the pneumatic system,it impact seriously on low-speed precision and stability of the pneumatic servo system.As the sliding mode variable structure has a good anti-interference ability and capacity of the model parameter perturbation,in this paper we use the above control strategy to solve the unmodeled part of the pneumatic system dynamics and bounded disturbances,so it can improve accuracy and stability of the aerodynamic servo system.The simulation results indicate that the system combined with sliding mode variable structure strategy has better anti-jammingcapability and response speed than the traditional PID control strategy.