气动位置控制系统分数阶控制器的设计与仿真
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摘要
为了实现对气动伺服控制系统的准确位置控制,设计了气动伺服系统,根据系统的组成推导了其数学模型,并在此基础上进行线性化处理,计算出传递函数。继而设计了一种基于稳定裕度法整定参数的分数阶控制器,使用MATLAB的优化工具箱求解控制器参数并在Simulink中搭建分数阶控制器模型进行仿真分析。结果表明,使用稳定裕度法整定参数的分数阶控制器对气动伺服系统具有良好的控制效果,在系统参数发生较大变化时仍能达到理想的控制性能指标,系统仍具有良好的信号跟踪特性、强抗干扰能力和鲁棒性。实验测得采用分数阶控制器的气动伺服系统定位精度达到0.5 mm,系统具有较高的稳态精度。
In order to realize the accurate position control of pneumatic servo control system, the pneumatic servo system is designed firstly, and its mathematical model is deduced according to the composition of the system.On this basis, the linearization is processed and the transfer function is calculated. Then we design a fractional order controller which use the stability margin method to tune parameters.Use MATLAB's optimization toolbox to solve five parameters and build a fractional order controller model to simulate in Simulink.The simulation results show that the fractional order controller with this method has good control effect, and can achieve the ideal control performance index when the system parameters change greatly. The system has good tracking characteristics, strong anti-interference ability and robustness.The positioning accuracy of the pneumatic servo system using Fractional order Controller is 0.5 mm,the system has high steady-state accuracy.
In order to realize the accurate position control of pneumatic servo control system, the pneumatic servo system is designed firstly, and its mathematical model is deduced according to the composition of the system.On this basis, the linearization is processed and the transfer function is calculated. Then we design a fractional order controller which use the stability margin method to tune parameters.Use MATLAB's optimization toolbox to solve five parameters and build a fractional order controller model to simulate in Simulink.The simulation results show that the fractional order controller with this method has good control effect, and can achieve the ideal control performance index when the system parameters change greatly. The system has good tracking characteristics, strong anti-interference ability and robustness.The positioning accuracy of the pneumatic servo system using Fractional order Controller is 0.5 mm,the system has high steady-state accuracy.
引文
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[9] 郝飞.基于PLC的气动机械手精准位置控制系统的设计[J].机床与液压,2018,46(11):85-87.HAO Fei.Design of Precision Position Control System for Pneumatic Manipulator Based on PLC [J].Machine Tool & Hydraulics,2018,46(11):85-87.
[10] 张伟,马越,林安明,等.基于独立负载口控制的码垛机升降气动位置伺服系统研究[J].机床与液压,2017,45(21):135-138.ZHANG Wei,MA Yue,LIN Anming,et al.Pneumatic Position Servo System Based on Independent Load Port Control of Palletizer Lifting [J].Machine Tool & Hydraulics,2017,45(21):135-138.
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[14] 陶国良.电-气比例/伺服连续轨迹控制及其在多自由度机械手中的应用研究[D].杭州:浙江大学,2000.TAO Guoliang.Electro-gas Ratio/sorvo Continuous Traje-ctory Control and Its Application in Multu-degree-of-freedom Manipulators [D].Hangzhou:Zhejiang University,2000.
[15] 孔祥臻,刘延俊,王勇,等.气动比例控制系统的建模与辨识[J].机床与液压,2006,(9):121-123.KONG Xiangzhen,LIU Yanjun,WANG Yong,et al.Study on Modeling and Identification for Pneumatic Proportional Control System [J].Machine Tool & Hydraulics,2006,(9):121-123.
[16] 陆鑫盛,周洪.气动自动化系统的优化设计[M].上海:上海科学技术文献出版社,2000.LU Xinsheng,ZHOU Hong.Optimization Design of Pneu-matic Automation System [M].Shanghai:Shanghai Science and Technology Literature Publishing House,2000.
[17] 刘睿.泵控变速箱轴系压装机的研究与开发[D].合肥:合肥工业大学,2018.LIU Rui.Research and Development of Pump-controlled Hydraulic Press for Transmission Shaft [D].Hefei:Hefei University of Technolgy,2018.
[2] 魏琼,焦宗夏,王君,等.基于LuGre模型的气动位置伺服系统摩擦补偿控制[J].机械工程学报,2018,54(20):131-138.WEI Qiong,JIAO Zongxia,WANG Jun,et al.Control of Pneumatic Position Servo with LuGre Model-based Friction Compensation [J].Journal of Mechanical Engineering,2018,54(20):131-138.
[3] 孟凡淦,陶国良,王帮猛,等.气动伺服系统的摩擦力与死区参数辨识及控制[J].中南大学学报(自然科学版),2018,49(11):2700-2708.MENG Fangan,TAO Guoliang,WANG Bangmeng,et al.Identification and Control of Friction Parameters and Dead Zone Parameters of Pneumatic Servo System [J].Journal of Central South University (Natural Science Edition),2018,49(11):2700-2708.
[4] 赵苓,张斌.线性自抗扰气缸位置伺服控制研究[J].液压与气动,2017,(2):17-21.ZHAO Ling,ZHANG Bin.Cylinder Positioning Servo Control via Linear Active Disturbance Rejection Controller [J].Chinese Hydraulics & Pneumatics,2017,(2):17-21.
[5] 陶国良,周超超,尚策.气动位置伺服嵌入式控制器及控制策略[J].浙江大学学报:工学版,2017,51(4):792-799.TAO Guoliang,ZHOU Chaochao,SHANG Ce.Pneumatic Position Servo Embedded Controller and Control Strategy [J].Journal of Zhejiang University:Engineering Science,2017,51(4):792-799.
[6] LING Z,XIA Y,YANG Y,et al.Multi-controller Positio-ning Strategy For a Pneumatic Servo System via Pressure Feedback [J].IEEE Transactions on Industrial Electronics,2017,64(6):4800-4809.
[7] REN H,FAN J.Adaptive Backstepping Slide Mode Control of Pneumatic Position Servo System [J].Chinese Journal of Mechanical Engineering,2016,29(5):1003-1009.
[8] 孙丽娜,毕庆.基于实验模型的气动人工肌肉位置控制研究[J].机床与液压,2018,46(5):84-86.SUN Li’na,BI Qing.Empirical Model Based Study in Position Control of Pneumatic Artificial Muscle [J].Machine Tool & Hydraulics,2018,46(5):84-86.
[9] 郝飞.基于PLC的气动机械手精准位置控制系统的设计[J].机床与液压,2018,46(11):85-87.HAO Fei.Design of Precision Position Control System for Pneumatic Manipulator Based on PLC [J].Machine Tool & Hydraulics,2018,46(11):85-87.
[10] 张伟,马越,林安明,等.基于独立负载口控制的码垛机升降气动位置伺服系统研究[J].机床与液压,2017,45(21):135-138.ZHANG Wei,MA Yue,LIN Anming,et al.Pneumatic Position Servo System Based on Independent Load Port Control of Palletizer Lifting [J].Machine Tool & Hydraulics,2017,45(21):135-138.
[11] 周树云,陈冰冰.比例控制气动伺服系统的建模与仿真研究[J].机械,2007,34(1):38-40.ZHOU Shuyun,CHEN Bingbing.The Modeling of Pro-portional Controlled Pneumatic Servo System and Simulation Research [J].Machinery,2007,34(1):38-40.
[12] SANVILLE L.A New Method of Specifying the Flow Cap-acity of Pneumatic Fluid Power Symposium [J].BHRA,England,Paper,1971,17(195):120-126.
[13] BOBROW J E,MCDONELL B W.Modeling,Identifica-tion,and Control of a Pneumatically Actuated,Force Controllable Robot [J].Proc.ieee Int.conf.on Robotics & Automation,1998,14(5):732-742.
[14] 陶国良.电-气比例/伺服连续轨迹控制及其在多自由度机械手中的应用研究[D].杭州:浙江大学,2000.TAO Guoliang.Electro-gas Ratio/sorvo Continuous Traje-ctory Control and Its Application in Multu-degree-of-freedom Manipulators [D].Hangzhou:Zhejiang University,2000.
[15] 孔祥臻,刘延俊,王勇,等.气动比例控制系统的建模与辨识[J].机床与液压,2006,(9):121-123.KONG Xiangzhen,LIU Yanjun,WANG Yong,et al.Study on Modeling and Identification for Pneumatic Proportional Control System [J].Machine Tool & Hydraulics,2006,(9):121-123.
[16] 陆鑫盛,周洪.气动自动化系统的优化设计[M].上海:上海科学技术文献出版社,2000.LU Xinsheng,ZHOU Hong.Optimization Design of Pneu-matic Automation System [M].Shanghai:Shanghai Science and Technology Literature Publishing House,2000.
[17] 刘睿.泵控变速箱轴系压装机的研究与开发[D].合肥:合肥工业大学,2018.LIU Rui.Research and Development of Pump-controlled Hydraulic Press for Transmission Shaft [D].Hefei:Hefei University of Technolgy,2018.