A STUDY OF COMBINED SELF-TUNER CONTROL FOR PNEUMATIC SERVO SYSTEM

摘要

The compressibility of the air and the inherent non-linearity of the pneumatic servo system continue to make achieving accurate position control and excellent robust capability a challenging problem. Therefore, it is difficult for ordinary linear control methods to accomplish satisfactory control performance in the system. Adaptive control can overcome such weakness. Whereas the ordinary self-tuner adaptive control makes tracking behavior and stochastic adjusting capability of the system restrict mutually, then both requirements of them are difficult to meet simultaneously. And the combined self-tuner controller presented in this paper can not only design the servo pulse transfer function and the noise transfer function to achieve the expected dynamic capabilities, but also restrain the influence of some disturbing factors like friction to the pneumatic system, thus to improve the system’s anti-jamming robust capability and position precision.This method is confirmed by the experiment results.