Motion Analysis and Validation of Oscillating Nozzle Pneumatic Servo System

The structural principle and working principle of the pneumatic servo oscillating nozzle are analyzed, and through the motion analysis and modeling of the system, the nonlinear characteristics of the two pneumatic servo actuators and the cross-linking coupling characteristics are analyzed, and the inverse solution formula of the kinematics of the nozzle is deduced, and the decoupling algorithm of the nozzle for the displacement of actuator under the instruction of any pendulum angle is established; at the same time, the nonlinear links, such as the loading force, cylinder damping and other nonlinear links of the pneumatic servo system of the oscillating nozzle are investigated. At the same time, the nonlinear links such as load force, cylinder damping and so on in the swing nozzle pneumatic servo system operation are studied to establish the mathematical model of the pneumatic servo system containing nonlinear links, and at the same time, the control performance of the PID controller is compared with that of the fuzzy PID controller, and the correctness of the controller parameters is verified by using the step-response method based on the time domain and the sinusoidal correlation analysis method based on the frequency domain, and the correctness of the controller parameters is verified by using Matlab/Simulink. Finally, the accuracy of the inverse kinematics theory and model of the nozzle is verified by kinematics simulation, which lays a solid foundation for further research on the pneumatic servo system of the swing nozzle and the applicability of PID controller and fuzzy PID controller.