The research on sliding model control of pneumatic muscle driven by high-speed on/off valves

摘要

Aiming at realizing the precise control of pneumatic muscle (PM) driven by high-speed on/off valves, a sliding mode control (SMC) approach based on the three-element model of PM is proposed. Firstly, the dynamic model of PM is established based on the three-element model, and the dynamic property experimental apparatus of PM is established to identify parameters of the three-element model. Secondly, the trajectory tracking control scheme of PM is established based on the SMC method. Finally, the control scheme is realized by means of the MATLAB/Simulink and the simulations of trajectory tracking control of PM is implemented. The experimental results indicate that the control accuracy and property of disturbance rejection is satisfactory, which provides an effective method for the trajectory tracking control of PM actuated with the high-speed on/off valves.