基于比例压力阀的摆动气缸的位置伺服系统的研究
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摘要
气动技术具有一系列显著优点,在工业生产中得到了越来越广泛的应用,已成为实现自动化技术不可缺少的手段。进入上世纪90年代后,气动技术更是突破传统死区,经历着飞速发展。气动伺服技术作为本学科的前沿研究领域,备受人们的重视。气动伺服定位技术已能使气缸在高速运动下实现任意点、高精度定位,突破了传统的气动定位方法。基于众多中小企业关于工程可行性好、性价比高的气动自动化设备改造的需求,本文提出了一种低成本的基于比例压力阀的直线气缸位置控制系统,仿真结果表明其具有理想的控制性能,因而以期能在工程中获得推广和应用。在工业自动化领域,存在大量的旋转位置伺服控制需求,因此,对气动旋转位置伺服控制进行研究有实用价值。
摆动气缸是一种常用的气动旋转驱动装置,由于摆动气缸较小的行程和较大的摩擦力矩使得对其实现高性能的位置伺服控制比较难。目前摆动气缸伺服定位的精度还不能满足实际应用的需求。本文对比例压力阀控制的摆动气缸位置伺服系统线性化数学模型、非线性摩擦力的补偿方法的建立以及对控制策略进行了理论分析和仿真试验,以期获得性能较好的气动位置伺服系统。
首先,本文对摆动气缸和比例压力阀进行了特性分析,详细地描述了摆动气缸的外负载和摩擦力的情况,对系统进行详细地分析,建立了较为完整的非线性数学模型并进行了合理的线性化。
其次,分析了由非线性摩擦力矩引起的系统稳态误差及粘滑振荡现象;在此基础上提出采用带摩擦力矩补偿的双环控制,其内环为压力控制环,外环为速度控制环,外环采用了摩擦力矩观测补偿器来减小非线性摩擦力矩对系统性能的不良影响。试验结果表明:与仅有速度控制环的控制策略相比该方法提高了系统的稳态精度和动态性能。
最后,本文对控制策略进行了详细的研究和设计,通过仿真验证了方案的可行性和有效性。针对系统易受外干扰的特点分别分析并比较了传统PID控制和灰色PID控制,仿真结果表明提出的灰色PID控制方法是稳定和有效的,系统在抗干扰和抗摄动能力方面都有明显的提高。
Pneumatic technology, which has a series of obvious advantages, is applied widely in industry production more and more, and becomes a rigueur means of automation. Entering into 1990's, pneumatic technology is largely beyond the traditional blind area and comes through a quickly develop. As the leading study domain, pneumatic servo technique has a regard for the people. Pneumatic servo positioning technology can realize high accuracy arbitrarily point automatic positioning when cylinder moves in high velocity and break through the traditional pneumatic positioning method. Based on the requirement for engineering upgrading of pneumatic automatic equipment that has advantages such finer feasibility and higher ratio of property and price in middle and small enterprises, this paper introduced a low cost linear cylinder position control system based on a proportional pressure valve. The emulation result indicated that it has a satisfactory control performance, thus, it can be expected to generalize and utilize in variously engineering regions. In the field of industrial automation, there is a lot of requirements for rotation position servo control. Therefore, it has practical value to study on the pneumatic rotation position servo control.
Pneumatic rotary actuator is an actuating device of rotate motion used widely in pneumatic system. However, its small stoke and large friction torque make it more difficult to implement angular position servo control of high performance. At present, the positioning precision could not meet the practical requirement. In this paper, a pneumatic rotary actuate position servo system with proportional pressure valves as the control devices is studied. The study is conducted in the following aspects: method of establishing linear model, compensation method of nonlinear friction, control strategy and so on. In order to obtain a better pneumatic servo control system.
First of all, this paper has analyzed the characteristic of rotary and flow promotional valve, described the load and friction situation .On the basis of the analysis, this paper has derived the flow-pressure equation and Balanced equation of system, thus set up the non-linear mathematics model, has carried on the rational linearization.
The system steady-state error and the stick-slip phenomenon caused by the nonlinear friction are analyzed. A dual-loop control strategy with friction compensation for the system are proposed. The controller has an inner pressure difference control loop and an outer velocity control loop. In the outer loop, a simple friction compensator is used to eliminate the negative effects of the nonlinear friction. Simulation results show that the system performance using the proposed control strategy is better than that using the control strategy with position control loop only.
At the end, the pivotal job of this paper is to detailed research and design the control strategy, and to confirm the feasibility and the validity through the simulation. According to the system characteristic which is easily influenced by disturbing effect, my paper has analyzed and compared traditional PID control and grey PID. This method received good result. The simulation results indicated that grey PID is stable and effective. The system has enhanced both the anti jamming and the anti perturbation ability.
摆动气缸是一种常用的气动旋转驱动装置,由于摆动气缸较小的行程和较大的摩擦力矩使得对其实现高性能的位置伺服控制比较难。目前摆动气缸伺服定位的精度还不能满足实际应用的需求。本文对比例压力阀控制的摆动气缸位置伺服系统线性化数学模型、非线性摩擦力的补偿方法的建立以及对控制策略进行了理论分析和仿真试验,以期获得性能较好的气动位置伺服系统。
首先,本文对摆动气缸和比例压力阀进行了特性分析,详细地描述了摆动气缸的外负载和摩擦力的情况,对系统进行详细地分析,建立了较为完整的非线性数学模型并进行了合理的线性化。
其次,分析了由非线性摩擦力矩引起的系统稳态误差及粘滑振荡现象;在此基础上提出采用带摩擦力矩补偿的双环控制,其内环为压力控制环,外环为速度控制环,外环采用了摩擦力矩观测补偿器来减小非线性摩擦力矩对系统性能的不良影响。试验结果表明:与仅有速度控制环的控制策略相比该方法提高了系统的稳态精度和动态性能。
最后,本文对控制策略进行了详细的研究和设计,通过仿真验证了方案的可行性和有效性。针对系统易受外干扰的特点分别分析并比较了传统PID控制和灰色PID控制,仿真结果表明提出的灰色PID控制方法是稳定和有效的,系统在抗干扰和抗摄动能力方面都有明显的提高。
Pneumatic technology, which has a series of obvious advantages, is applied widely in industry production more and more, and becomes a rigueur means of automation. Entering into 1990's, pneumatic technology is largely beyond the traditional blind area and comes through a quickly develop. As the leading study domain, pneumatic servo technique has a regard for the people. Pneumatic servo positioning technology can realize high accuracy arbitrarily point automatic positioning when cylinder moves in high velocity and break through the traditional pneumatic positioning method. Based on the requirement for engineering upgrading of pneumatic automatic equipment that has advantages such finer feasibility and higher ratio of property and price in middle and small enterprises, this paper introduced a low cost linear cylinder position control system based on a proportional pressure valve. The emulation result indicated that it has a satisfactory control performance, thus, it can be expected to generalize and utilize in variously engineering regions. In the field of industrial automation, there is a lot of requirements for rotation position servo control. Therefore, it has practical value to study on the pneumatic rotation position servo control.
Pneumatic rotary actuator is an actuating device of rotate motion used widely in pneumatic system. However, its small stoke and large friction torque make it more difficult to implement angular position servo control of high performance. At present, the positioning precision could not meet the practical requirement. In this paper, a pneumatic rotary actuate position servo system with proportional pressure valves as the control devices is studied. The study is conducted in the following aspects: method of establishing linear model, compensation method of nonlinear friction, control strategy and so on. In order to obtain a better pneumatic servo control system.
First of all, this paper has analyzed the characteristic of rotary and flow promotional valve, described the load and friction situation .On the basis of the analysis, this paper has derived the flow-pressure equation and Balanced equation of system, thus set up the non-linear mathematics model, has carried on the rational linearization.
The system steady-state error and the stick-slip phenomenon caused by the nonlinear friction are analyzed. A dual-loop control strategy with friction compensation for the system are proposed. The controller has an inner pressure difference control loop and an outer velocity control loop. In the outer loop, a simple friction compensator is used to eliminate the negative effects of the nonlinear friction. Simulation results show that the system performance using the proposed control strategy is better than that using the control strategy with position control loop only.
At the end, the pivotal job of this paper is to detailed research and design the control strategy, and to confirm the feasibility and the validity through the simulation. According to the system characteristic which is easily influenced by disturbing effect, my paper has analyzed and compared traditional PID control and grey PID. This method received good result. The simulation results indicated that grey PID is stable and effective. The system has enhanced both the anti jamming and the anti perturbation ability.
引文
[1].SMC(中国)有限公司.现代实用气动技术,第2版.机械工业出版社.2005年5月
[2].查宏民.基于比例方向阀的气动位置控制系统控制策略的研究:[学位论文].天津:天津大学硕士论文,2005
[3].D.Schoiz,A.Zimmermann.Servo Pneumatic Positioning.Festo.1996
[4].陆鑫盛,周洪.气动自动化系统的优化设计.上海:上海科学技术文献出版社2000
[5].J.E.Blackbum,G.Reethof and J.L.Shearer.Fluid Power Control.America:MIT Press,1959
[6].R.V.Holstenberg.Some Linear and Nonlinear Aspects of Hot Gas Servo Design.IRE Transaction on Automatic Control,1959,AC-4(3):97-107
[7].G.B.Surg and L.B.Taplin.Aero space Pneumatic Control System.J.Engrg.Ind.85,1963
[8].薛阳.智能控制在气动机械手位置伺服系统上的研究:[学位论文].北京:北京理工大学博士论文,2003
[9].郑洪生.气压传动及控制,第2版.机械工业出版社.1987年10月
[10].路甫祥等.气动技术的发展方向.液压与气动,1991,第2期
[11].安伯军.摆动气缸研制及位置控制技术研究:[学位论文].南京:南京理工大学硕士论文,2004
[12].Shereae JL.Study of Pneumatic Processes in the Continuous Control of Motion with Compress Air.Trans ASME.Feb,1956
[13].Burrows CR,Webb CR.Use of Root Loci in Design of Pneumatic Servomechanism.Control.Aug,1996
[14].Liu S,Burrows E J.A new Generation of Pneumatic Servo System and it's Application to a Computer Controlled Robot.Control 1988
[15].许宏光.电一气伺服控制系统的研究:[学位论文].哈尔滨:哈尔滨工业大学博士论文,1992
[16].J.E.Bobrow,WMcDonell.Modeling,Identification and Control of a Pneumatically Actuated.Force Controllable Robot,IEEE Transactions on Robotics and Automation,1998,14(5):732-742
[17].Brian Armstrong-Hdlouvry.Control of Machines with Friction[M].Massachusetts:KluwerA cademic P ublishers1991
[18].Bo,L.C.and Pavelescu,D.The Friction-speed relation and its in fluence on the critical velocity of the stick-slip motion[J].Wear.1982(3):277-289
[19].朱仁宗.气动位置伺服系统的控制方法研究和设计:[学位论文].西安:西安交通大学硕士论文,2003
[20].丛爽.神经网络、模糊系统及其在运动控制中的应用,第1版.中国科学技术大学出版社.2001年5月
[21].程俊兰.液压伺服系统的摩擦力分析及补偿研究:[学位论文].河北:燕山大学硕士论文,2004
[22].朱春波.基于比例压力阀的气动位置伺服系统控制策略研究:[学位论文].哈尔滨:哈尔滨工业大学博士论文,2001
[23].柏艳红,李小宁.摆动气缸位置伺服系统带摩擦力矩补偿的双环控制研究.南京理工大学学报.2006,第2期
[24].M.Kemal Ciliz.and Masayoshi Tomizuka.Friction modeling and compensation for motion control using hybrid neural network models.Engineering Application of Artificial Intelligence,Volume 20,Issue 7,2007,898-911
[25]杨庆俊.高性能气压位置伺服系统控制研究:[学位论文].哈尔滨:哈尔滨工业大学博士论文,2002.
[26].Shu Ning,Gary M B.High steady2state accuracy pneumatic servo positioning system with PVA/PV control and friction compensation[A].Proceedings of the 2002 IEEE International Conference on Robotics & Automations[C].Washinton:Institute of Electrical and Electronics Engineers Inc,2002.2824-2829.
[27].诸静.模糊控制原理与应用.机械工业出版社,1999
[28].Pu K S.Learning Control System and Intelligent Control System.IEEE Trans.1971,6(1)
[29].史维祥.流体控制发展的一些动向.液压气动与密封.2001(2)
[30].Araki K,Yamamoto A.Model Reference Adaptive Control of Pneumatic Servo With a Constant Trace.Algorithm Journal of Fluid Control.1990,20(4)
[31].Ishimoto Matsiui E,Takawaki M.Learning Position Control on a Pneumatic Cylinder Using Fuzzy Reasoning.Journal of Fluid Control.1995,20(3)
[32].张翠芳,吕强,段运波.神经网络在气动PWM位置伺服系统中的应用.哈尔滨工业大学学报.1997(4)
[33].绪方胜彦著,卢伯英等译.离散时间控制系统.科学出版社,1976
[34].张宇河,金钰.计算机控制系统.北京:北京理工大学出版社,1998
[35].胡寿松。自动控制原理,第4版.科学出版社,2001
[36].陶永华,尹怡欣.新型PID控制及其应用.机械工业出版社,1998
[37].Tzafestas,N P Papanikolopoulos.Incremental Fuzzy Expert PID Control.IEEE Trans.1990,37(5)
[38].陈新海,李言俊,周军.自适应控制及应用,西北工业大学出版社,1998
[39].shin,M.C.and Huang,Y.F.Pneumatic Servo-Cylinder Position Control Using a Self-Tuning Controller.JSME,Series C.1992,35(2)
[40].王顺晃,舒迪前.智能控制系统及其应用.机械工业出版社,1998
[41].孙增圻,张再兴,邓志东.智能控制理论与技术.清华大学出版社,2002
[42].汤兵勇,路林吉,王文杰.模糊控制理论与应用技术.清华出版社,2002
[43].Ajay P.Control of Dynamic System Using Fuzzy Logic and Neural Networks.Inter J of Intelligent Systems.1993(8)
[44].陈正洪.气动比例位置系统的辨识与控制研究:[学位论文].济南:山东大学硕士论文,2002
[45].邓聚龙.灰色控制系统,第2版.华中理工出版社,1997
[46].陶永华.新型PID控制及其应用,第2版.机械工业出版社,2002
[47].吴振顺.气压传动与控制.哈尔滨工业大学出版社,2003
[48].Yu Nanhua,Ma Wentong,Su Ming.Application of adaptive Grey predictor based algorithm to boiler drum level control:Energy Conversion and Management[J].Elsevier,2006,47:2999-3007.
[49].顾瑞龙.控制理论及电液控制系统.北京:机械工业出版社,1984.
[50].薛定宇.基于MATLAB/Simulink的系统仿真技术与应用[M].北京:清华大学出版社,2002.
[51].刘金琨.先进PID控制MATLAB仿真,第2版。电子工业出版社,2004
[52].赵弘,林立,董霞等.基于反馈线性化的非线性气动伺服系统跟踪控制.系统仿真学报.2005,第4期,971-973
[2].查宏民.基于比例方向阀的气动位置控制系统控制策略的研究:[学位论文].天津:天津大学硕士论文,2005
[3].D.Schoiz,A.Zimmermann.Servo Pneumatic Positioning.Festo.1996
[4].陆鑫盛,周洪.气动自动化系统的优化设计.上海:上海科学技术文献出版社2000
[5].J.E.Blackbum,G.Reethof and J.L.Shearer.Fluid Power Control.America:MIT Press,1959
[6].R.V.Holstenberg.Some Linear and Nonlinear Aspects of Hot Gas Servo Design.IRE Transaction on Automatic Control,1959,AC-4(3):97-107
[7].G.B.Surg and L.B.Taplin.Aero space Pneumatic Control System.J.Engrg.Ind.85,1963
[8].薛阳.智能控制在气动机械手位置伺服系统上的研究:[学位论文].北京:北京理工大学博士论文,2003
[9].郑洪生.气压传动及控制,第2版.机械工业出版社.1987年10月
[10].路甫祥等.气动技术的发展方向.液压与气动,1991,第2期
[11].安伯军.摆动气缸研制及位置控制技术研究:[学位论文].南京:南京理工大学硕士论文,2004
[12].Shereae JL.Study of Pneumatic Processes in the Continuous Control of Motion with Compress Air.Trans ASME.Feb,1956
[13].Burrows CR,Webb CR.Use of Root Loci in Design of Pneumatic Servomechanism.Control.Aug,1996
[14].Liu S,Burrows E J.A new Generation of Pneumatic Servo System and it's Application to a Computer Controlled Robot.Control 1988
[15].许宏光.电一气伺服控制系统的研究:[学位论文].哈尔滨:哈尔滨工业大学博士论文,1992
[16].J.E.Bobrow,WMcDonell.Modeling,Identification and Control of a Pneumatically Actuated.Force Controllable Robot,IEEE Transactions on Robotics and Automation,1998,14(5):732-742
[17].Brian Armstrong-Hdlouvry.Control of Machines with Friction[M].Massachusetts:KluwerA cademic P ublishers1991
[18].Bo,L.C.and Pavelescu,D.The Friction-speed relation and its in fluence on the critical velocity of the stick-slip motion[J].Wear.1982(3):277-289
[19].朱仁宗.气动位置伺服系统的控制方法研究和设计:[学位论文].西安:西安交通大学硕士论文,2003
[20].丛爽.神经网络、模糊系统及其在运动控制中的应用,第1版.中国科学技术大学出版社.2001年5月
[21].程俊兰.液压伺服系统的摩擦力分析及补偿研究:[学位论文].河北:燕山大学硕士论文,2004
[22].朱春波.基于比例压力阀的气动位置伺服系统控制策略研究:[学位论文].哈尔滨:哈尔滨工业大学博士论文,2001
[23].柏艳红,李小宁.摆动气缸位置伺服系统带摩擦力矩补偿的双环控制研究.南京理工大学学报.2006,第2期
[24].M.Kemal Ciliz.and Masayoshi Tomizuka.Friction modeling and compensation for motion control using hybrid neural network models.Engineering Application of Artificial Intelligence,Volume 20,Issue 7,2007,898-911
[25]杨庆俊.高性能气压位置伺服系统控制研究:[学位论文].哈尔滨:哈尔滨工业大学博士论文,2002.
[26].Shu Ning,Gary M B.High steady2state accuracy pneumatic servo positioning system with PVA/PV control and friction compensation[A].Proceedings of the 2002 IEEE International Conference on Robotics & Automations[C].Washinton:Institute of Electrical and Electronics Engineers Inc,2002.2824-2829.
[27].诸静.模糊控制原理与应用.机械工业出版社,1999
[28].Pu K S.Learning Control System and Intelligent Control System.IEEE Trans.1971,6(1)
[29].史维祥.流体控制发展的一些动向.液压气动与密封.2001(2)
[30].Araki K,Yamamoto A.Model Reference Adaptive Control of Pneumatic Servo With a Constant Trace.Algorithm Journal of Fluid Control.1990,20(4)
[31].Ishimoto Matsiui E,Takawaki M.Learning Position Control on a Pneumatic Cylinder Using Fuzzy Reasoning.Journal of Fluid Control.1995,20(3)
[32].张翠芳,吕强,段运波.神经网络在气动PWM位置伺服系统中的应用.哈尔滨工业大学学报.1997(4)
[33].绪方胜彦著,卢伯英等译.离散时间控制系统.科学出版社,1976
[34].张宇河,金钰.计算机控制系统.北京:北京理工大学出版社,1998
[35].胡寿松。自动控制原理,第4版.科学出版社,2001
[36].陶永华,尹怡欣.新型PID控制及其应用.机械工业出版社,1998
[37].Tzafestas,N P Papanikolopoulos.Incremental Fuzzy Expert PID Control.IEEE Trans.1990,37(5)
[38].陈新海,李言俊,周军.自适应控制及应用,西北工业大学出版社,1998
[39].shin,M.C.and Huang,Y.F.Pneumatic Servo-Cylinder Position Control Using a Self-Tuning Controller.JSME,Series C.1992,35(2)
[40].王顺晃,舒迪前.智能控制系统及其应用.机械工业出版社,1998
[41].孙增圻,张再兴,邓志东.智能控制理论与技术.清华大学出版社,2002
[42].汤兵勇,路林吉,王文杰.模糊控制理论与应用技术.清华出版社,2002
[43].Ajay P.Control of Dynamic System Using Fuzzy Logic and Neural Networks.Inter J of Intelligent Systems.1993(8)
[44].陈正洪.气动比例位置系统的辨识与控制研究:[学位论文].济南:山东大学硕士论文,2002
[45].邓聚龙.灰色控制系统,第2版.华中理工出版社,1997
[46].陶永华.新型PID控制及其应用,第2版.机械工业出版社,2002
[47].吴振顺.气压传动与控制.哈尔滨工业大学出版社,2003
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