Research on adaptive backstepping control of servo valve-controlled pneumatic system
To achieve high-precision position trajectory tracking control of servo valve-controlled pneumatic system,an adaptive backstepping control method based on discontinuous parameter mapping is designed to address the system model uncertainty and external disturbance.First,the working principle and structure of the valve-controlled position servo system are introduced and the nonlinear mathematical model is built.The adaptive control theory is combined with the backstepping controller design method and the discontinuous parameter mapping is employed to ensure the parameters are bounded online.An adaptive controller based on the backstepping process is designed to suppress parameter uncertainty,unmodeled dynamics and parameter estimation error in order to ensure a certain steady-state performance and high trajectory tracking accuracy.The joint simulation model of valve-controlled pneumatic position servo system and controller is built by employing AMESim and Simulink software.Our results show compared with the backstepping controller and PID controller,the average tracking error of the adaptive backstepping control algorithm is reduced by 48.4%and 67.8%,and the standard deviation of the tracking error is down by 50.4%and 57.2%.The designed adaptive backstepping controller delivers better trajectory tracking control performances,effectively reduces the impacts of various nonlinear factors on control accuracy and achieves a strong robustness against interference.
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