Vol.9, No 1, 2010 pp. 95 - 102
UDC
621.52 681.5.01 62-127
ADVANTAGES OF DIGITAL SLIDING MODE POSITION CONTROL OF THE RODLESS PNEUMATIC CYLINDER
Vladislav Blagojević1, Miodrag Stojiljković1, Boban Veselić2
1University of Niš, Faculty of Mechanical Engineering, Department of Production-information Technologies and Management, Aleksandra Medvedeva 14,
18000 Niš, Serbia
2University of Niš, Faculty of Electronic Engineering, Department of Automation Control, Aleksandra Medvedeva 14, 18000 Niš, Serbia
E-mail: vlada@masfak.ni.ac.rs,
boban.veselic@elfak.ni.ac.rs
Abstract.
The paper deals with the task of achieving the desired position of the rodless pneumatic cylinder's piston and improving energy efficiency. The control system is designed by applying the variable structure system theory. The applied control algorithm is based on the digital sliding mode and has been compared to the conventional PI control law. The conducted experiments have demonstrated that this control algorithm provides a satisfactory positioning and great robustness, as well as energy efficiency.
Key Words:
servo pneumatics, PI, variable structure system, sliding mode, energy efficiency.
PREDNOSTI POZICIONIRANJA PNEUMATSKOG CILINDRA BEZ KLIPNJAČE DIGITALNIM KLIZNIM REŽIMOM
Rad se bavi problemima postizanja željene pozicije klipa pneumatskog cilindra bez klipnjače i povećanju energetske efikasnosti. Upravljački sistem je projektovan primenom teorije sistema promenljive strukture. Primenjeni algoritam upravljanja baziran je na digitalnom kliznom režimu i upoređen je sa konvencionalnim PI zakonom upravljanja. Sprovedeni eksperimenti demonstrirali su da predloženi algoritam upravljanja daje zadovoljavajuću tačnost pozicioniranja i veliku robustnost jednako dobro kao i energetsku efikasnost.
Ključne reči:
servo pneumatika, PI, sistem promenljive strukture, klizni režim, energetska efikasnost
