Control strategy for pneumatic rotary position servo systems based on feed forward compensation pole-placement self-tuning method |
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Authors: | Xin-tao Mao Qing-jun Yang Jin-jun Wu and Gang Bao |
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Affiliation: | (1) Pneumatic Center, Harbin Institute of Technology, Harbin, 150001, China |
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Abstract: | The pneumatic rotary position system, in which an electro-pneumatic proportional flow valve controled a rotary cylinder, was
studied, and its mathematical model was built. The model indicated that the controlled pneumatic system had disadvantages
such as inherent non-linearity and variations of system parameters with working points. In order to improve the dynamic performance
of the system, feed forward compensation self-tuning pole-placement strategy was adopted to place the poles of the system
in a desired position in real time, and a recursive least square method with fixed forgetting factors was also used in the
parameter estimation. Experimental results show that the steady state error of the pneumatic rotary position system is within
3% and the identified system parameters can be converged in 5 s. Under different loads, the controlled system has an excellent
tracking performance and robustness of anti-disturbance.
Foundation item: Project(50375034) supported by the National Natural Science Foundation of China |
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Keywords: | pneumatic servo system adaptive control parameter identification pole-placement |
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