As the control core of the regulating valve,the valve positioning controller determines the regulation accuracy and response speed of the pneumatic regulating valve and plays an irreplaceable role in the operation of the regulating valve.Aiming at the problems of the pneumatic valve positioning system nonlinearity,the susceptibility to the quality of the gas source and the inaccuracy of the model,a pneumatic regulating valve positioning system based on interference observation is designed.Firstly,the mathematical model of the pneumatic regulating valve positioning system is established.Then,the nonlinear disturbance observer is used to estimate the model uncertainty and external environmental disturbances,and the disturbance observation information is applied to the backstepping controller design,which can better deal with the effects of the aggregate disturbances(including external disturbances,unmodeled dynamics,and model parameter uptake,etc.)of the pneumatic regulating valve system in the industrial process.Finally,the pneumatic regulating valve positioning system is simulated using Matlab,and the simulation results are analyzed with corresponding data.The simulation results and data analysis results show that the nonlinear disturbance observer can accurately estimate the aggregate disturbances.Meanwhile,the comparison results with the integral backstepping method show that the root-mean-square value of the trajectory tracking error of the used control method is smaller and the tracking effect is better.Under the action of the designed controller,the actual valve position of the pneumatic valve can accurately track the desired valve position trajectory.
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