Design of auto disturbance rejection control system for pneumatic manipulator based on PLC Technology

Abstract

Abstract Aiming at the coupling effect between joints of two degree of freedom pneumatic mechanism in reciprocating motion, and the reciprocating motion problem caused by the imprecision and jitter of dynamic model in high-speed motion, an auto disturbance rejection control system of Pneumatic Manipulator Based on PLC technology is designed, and the parameter model of flexible joint manipulator system is established, and the cubic spline interpolation is optimized by PLC technology, The effective control mode of operation space is realized. The correctness and stability of the active disturbance rejection control system of Pneumatic Manipulator Based on PLC technology are verified by simulation experiment.