Accurate Sliding-Mode Control of Pneumatic Systems Using Low-Cost Solenoid Valves
Accurate Sliding-Mode Control of Pneumatic Systems Using Low-Cost Solenoid Valves
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DOI：
10.1109/tmech.2007.892821
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发表时间：
2007-04
期刊：
影响因子：
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通讯作者：
T. Nguyen;J. Leavitt;F. Jabbari;J. Bobrow
中科院分区：
文献类型：
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作者：
T. Nguyen;J. Leavitt;F. Jabbari;J. Bobrow
针对一种使用四个电磁开关阀和一个位置反馈传感器的低成本气动运动控制系统，开发了一种控制律。采用了滑模方法，该方法因其对系统不确定性的耐受性而闻名。与先前的控制律不同，我们的方法不使用脉宽调制。该控制律具有一种节能模式，可节省电能、减少颤振并延长阀门的使用寿命。我们的仿真和实验结果表明，所提出的跟踪控制律性能非常好，具有良好的跟踪性能和相对较低的稳态位置误差。
A control law is developed for an inexpensive pneumatic motion control system using four solenoid on/off valves and a position feedback sensor. A sliding-mode approach is used, which is well known for its tolerance for system uncertainties. In contrast to previous control laws, our approach does not use pulsewidth modulation. The control law has an energy-saving mode that saves electrical power, reduces chattering, and prolongs the valve's life. Our simulation and experimental results show that the proposed tracking control law performs very well with good tracking and relatively low steady-state position errors