In order to achieve high-precision robust control of pneumatic cylinder motion trajectory, the mathematical model of proportional valve-controlled pneumatic cylinder system was established, and a non-linear deterministic robust controller was designed on the basis of the backstepping method, which can effectively suppress the effects of system model parameter uncertainty, unmodelled dynamics and external disturbances. The Simulink module in MATLAB was used to construct a simulation model of the pneumatic cylinder motion trajectory tracking control system. A real-time control system for pneumatic cylinder motion trajectory based on a non-linear deterministic robust controller was developed using xPC-Target in MATLAB/Simulink. The simulation results show that the designed controller is feasible. The test results show that the controller can effectively track the reference trajectory, with a maximum tracking error of 0.89 mm for a 0.3 Hz sinusoidal trajectory, which is about 2.97% of the amplitude, and 1.02 mm for a 0.4 Hz sinusoidal trajectory, which is 3.4% of the amplitude.

In precise testing and control occasions, a stable air pressure supply is often required. However, the use of pressure regulating valves has low accuracy and slow response, which cannot meet the requirements of high-precision air supply and is difficult to deal with leakage situations. A high-precision constant pressure control system based on Fuzzy PI was designed for small volume chambers by using a proportional valve with high frequency response. In order to verify the effectiveness of the system under leakage conditions, an additional proportional valve was connected to the chamber to carry out a series of experimental studies under three conditions of confinement, constant leakage, and variable leakage. The results showed that the designed constant pressure control system can adapt to a variety of harsh operating conditions. The maximum steady-state errors of the pressure control for the 10 L, 20 L and 30 L chambers were around 610 Pa, 550 Pa and 490 Pa under the condition of greatly varying leakage, respectively. The pressure control precision achieved was close to the precision of the pressure sensor itself, much higher than the precision regulated by the traditional precision pressure reducing valve, and much faster in response. In addition, the test results also showed that the designed controller has good adaptability to the chambers with a volume range of 10 L to 30 L.