Synergetic Synthesis of Nonlinear Laws of Throttle Control of a Pneumatic Drive

Currently, a significant trend in control in robotic systems is developing and improving linear and nonlinear control algorithms to improve the overall quality of production with high accuracy and adaptability. The present study considers a synergistic synthesis of throttle control of a pneumatic distributor valve and backpressure control for piston rod positioning. The article presents the synthesis of control laws for the position of a pneumatic cylinder piston using the method of analytical design of aggregated regulators (ADAR) of synergetic control theory (STC), which allows operation with nonlinear mathematical models, eliminating the loss of information about the object during linearization. A comparative calculation of the energy efficiency of backpressure control and throttle control methods was carried out, while the numerical value of the total airflow with throttle control is 0.0569 m(3) forward slash s and, with backpressure control, it is 0.0337 m(3) forward slash s. Using a P controller in a linear model gives a transient oscillatory process damped in 2-2.5 s. When using a PID controller, the process has an overshoot equal to 11.5%, while the synergistic controller allows you to smoothly move the drive stem to a given position without overshoot. The parametric uncertainty analysis of the considered mathematical model is carried out. The model's main parameters are identified, which change the actual functioning of the system under study. The inconsistency of applying classical control laws based on typical controllers to parametrically indeterminate mathematical models is shown.