APPLICATION OF THE METHOD OF INTEGRAL ADAPTATION FOR SYNTHESIS OF ADAPTIVE LAWS OF CONTROL IN A PNEUMATIC DRIVE UNDER HARMONIC DISTURBANCES

Abstract

The active use of electro-pneumatic systems in various areas of industrial automation is due to such rather high performance indicators of the pneumatic drive as reliability, speed, low cost, availability of use in high humidity conditions, as well as in explosive and fire hazardous environments. The article provides a brief analysis of domestic and foreign scientific works devoted to the development of various methods of pneumatic system control, in which the problem of synthesis of effective control laws with adaptive properties to external disturbances is posed. The aim of this work is to develop an adaptive nonlinear synergetic control law to suppress the disturbing effect, which was specified and additively introduced into the mathematical model in the form of a harmonic function. The synthesis of the adaptive control law was carried out using the method of integral adaptation, which is part of the concept of synergetic control theory. The obtained results of computer modeling confirm the adaptive properties of the obtained nonlinear synergistic control laws and the achievement of the set technological control goal - moving the rod to a given position under conditions of harmonic disturbance. One of the important stages in the analysis of the results presented in this work is the conduct of experimental studies that make it possible to test the performance of synthesized nonlinear synergetic control laws obtained by analytical means on the educational and experimental stand of pneumatic drives of vertical and horizontal displacement of the Camozzi Company. For the practical implementation of the obtained synergetic control laws, the controller was programmed in the CoDeSys programming environment for industrial automation in the graphical language of functional block diagrams FBD (Function Block Diagram) IEC 61131-3 programming.