A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic...

Area of Science:

• Mechanical Engineering
• Control Systems Engineering
• Robotics

Background:

• Pneumatic servo systems are crucial for industrial automation.
• Achieving high precision path tracking in large stroke asymmetric systems under variable loads presents significant challenges due to inherent nonlinearities.

Purpose of the Study:

• To develop and implement a hardware-in-the-loop system for real-time path tracking control of a large stroke asymmetric pneumatic servo system.
• To address the nonlinear and time-varying dynamics of the pneumatic system using an advanced control strategy.

Main Methods:

• Utilized MATLAB Simulink real-time system for hardware-in-the-loop implementation.
• Developed highly nonlinear mathematical models for the pneumatic system.
• Designed a functional approximation technique based on sliding mode controller (FASC) to solve uncertain nonlinear systems.
• Integrated a linear encoder for real-time position feedback.

Main Results:

• Successfully implemented real-time control for the large stroke asymmetric pneumatic servo system.
• Demonstrated high position precision and trajectory tracking performance.
• Experimental validation included fifth-order paths, sine wave paths, and performance under variable loads and different angles.

Conclusions:

• The developed hardware-in-the-loop system and FASC controller significantly enhance the position precision and path tracking capabilities of large stroke asymmetric pneumatic servo systems.
• The system effectively handles nonlinearities and variable loads, proving its practical applicability.