自然科学版 英文版
自然科学版 英文版
自然科学版 英文版

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中南大学学报(英文版)

Journal of Central South University

Vol. 26    No. 6    June 2019

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Nonlinear cascade control of single-rod pneumatic actuator based on an extended disturbance observer
LI Ai-min(李艾民)1, MENG De-yuan(孟德远)1, LU Bo(路波)2, LI Qing-yang(李庆阳)1

1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China;
2. National Quality Supervision and Inspection Centre of Pneumatic Products, Ningbo 315500, China

Abstract:Precise position tracking control of the single-rod pneumatic actuator is considered and a nonlinear cascade controller is developed. The proposed controller comprises an extended disturbance observer (EDOB) and a nonlinear robust control law synthesized by the backstepping method. The EDOB is designed to estimate not only the influence of disturbances but also the parameter uncertainties. With the use of parameter and disturbance estimates, the nonlinear cascade controller, which consists of an outer position tracking loop and an inner load pressure loop, is further designed to attenuate the effects of parameter and disturbance estimation errors. The stability of the closed-loop system is proven by means of Lyapunov theory. Extensive comparative experimental results obtained verify the effectiveness of the proposed nonlinear cascade controller and its performance robustness to parameter and external disturbance variations in practical implementation.

 

Key words: electro-pneumatic servo system; extended disturbance observer; cascade control; robust control; position tracking

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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