Abstract
The objective of this thesis is to design a sliding mode controller with time-delay. With this controller, we can enable the piston to arrive at the set-point in finite time for the pneumatic system. This experiment is based on PC, uses AD/DA card as interfaces, output the result calculated into the proportional valve to control the pressure in the actuator’s chambers, finally make the piston reach the position as desired. There are three parts for this controller design. The first part is to set up systematic model. We use linearization to reduce system order, set up the mathematical model with time-delay characteristics, and then determine the parameters among them with system identification. The second part is to design a controller. We use the combination of predictive structure and sliding mode control, reduce the time-delay in system with variable substitution, then design a sliding mode controller. Finally realizes this controller with C language, achieves the goal of positioning the piston.