Sliding Mode Control for Pneumatic Two Dimensional Ultra-precision Servo System Based on Output Feedback

doi:10.3901/JME.2019.07.163

Abstract

Abstract: A recursive sliding mode control method based on step-by-step feedback is proposed to solve the problem of ultra high-precision control of pneumatic bellows 2D servo system. By the two respective estimations for each order of the three-order system's output, a new order step-by-step state observer is designed, which reduces the observational error of the three-order state of the system by the conventional observer. A recursive sliding mode surface is devised by designing a step-by-step sliding mode, which avoids the chattering problem of the conventional dynamic sliding mode control signal. The combination of recursive sliding mode controller and step-by-step state observer improves the precision of the servo system while improving the dynamic quality of the control system. And the Lyapunov function theory is used to prove that all the states of the pneumatic bellows servo system are globally consistent and ultimately bounded. The numerical simulation results show that the tracking system of pneumatic servo system has no overshoot, fast response and high accuracy, which achieves a large stroke precision control with 20 mm of movement and steady error less than 100 nm.

Key words: gradual output feedback, pneumatic bellows, recursive sliding mode control, ultra-precision

CLC Number:

TP271

TIAN Yanbing, XU Yaming, LIU Qinglong, CHEN Xia. Sliding Mode Control for Pneumatic Two Dimensional Ultra-precision Servo System Based on Output Feedback[J]. Journal of Mechanical Engineering, 2019, 55(7): 163-171.

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