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| Modeling of an air motor servo system and robust sliding mode controller design
Chia-Hua Lu* and Yean-Ren Hwang
The Journal of Mechanical Science and Technology, vol. 26, no. 4, pp.1161-1169, 2012
Abstract : Pneumatic systems offer a number of advantages: typically they are fast, simple to maintain and inexpensive. However, the high compressibility
of air makes control of the actuator very difficult. The purpose of this paper is to analyze the behaviors of a ball screw table
powered by a vane-type air motor and then to design a robust sliding mode controller for position control. Due to the compressibility of
the air and friction in the mechanism, the overall system is nonlinear. A robust sliding mode control is developed to overcome the effects
of the uncertainty. Experimental results are given to validate the proposed position control strategy.
Keyword : Pneumatic; Air motor; Robust; Sliding mode control |
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