Being aimed at the asymmetric penumatic cylinedr, a new type of pneumatic drive cricuit is designed. The generalized pulse code modulation (GPCM) pneumatic control system is used for improving performances of the system. In addition, in stead of establishing a nonlinear mathematical model o- penumatic GPCM servo system, system identification by the recursive least square method is applied to find its mathematical model, then a self-tunning controller with the pole-placement approach is designed. In the end, experiments are run in detail. The results show that the GPCM pneumatic servo system is better than the PCM, the self-tuning controller is better than the conventional PID and they are effective in achieving a desigred positionaing and following accuracy.
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