Vol.1, No 9, 2002 pp. 1275 - 1285
UDC 621.3.072.9
APPLICATION OF DIGITAL SLIDING
MODES
TO SYNCHRONIZATION OF THE WORK
OF TWO PNEUMATIC CYLINDERS
Vladislav Blagojević1, Čedomir Milosavljević2
1Faculty of Mechanical Engineering
Nis, 2Faculty of Electronic Engineering
Nis
Abstract. The paper considers the problem of ensuring synchronized
movement of two pneumatic cylinders. The control system for synchronization
was designed by applying the theory of control system with variable structure.
The algorithm of control is based on digital sliding regime. Measuring
coordinates of state (positions and speeds) directly on the cylinders is
supposed to be possible. It is shown that such a system ensures quick synchronization
of cylinders under different initial conditions. The applied algorithm
was compared with conventional algorithms of control. The quality of work
of the considered system was illustrated by computer simulation.
Key words: pneumatic actuator, variable structure system, digital
sliding regimes.
PRIMENA DIGITALNIH KLIZNIH REŽIMA
U SINHRONIZACIJI RADA DVA PNEUMATSKA CILINDRA
Razmatra se zadatak obezbeđenja sinhronog kretanja dva pneumatska cilindra.
Upravljački sistem za sinhronizaciju projektovan je primenom teorije sistema
upravljanja promenljive strukture. Algoritam upravljanja se bazira na digitalnom
kliznom režimu. Pretpostavlja se da se na cilindrima mogu neposredno meriti
koordinate stanja: pozicije i brzine. Pokazano je da takav sistem obezbeđuje
brzu sinhronizaciju cilindara pri različitim početnim uslovima. Izvršeno
je upoređenje primenjenog algoritma sa konvencionalnim algoritmima upravljanja.
Simulacijom na računaru ilustrovan je kvalitet rada razmatranog sistema.
