广义预测在气动位置伺服系统中的应用研究
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摘要
随着工业自动化技术的发展,气动技术由于其成本低、无污染、安全可靠等诸多优点,已经被应用于自动化生产的各个领域。而作为此学科前沿研究领域之一的气动伺服技术更是被称为气动技术今后高科技应用发展的火车头,日渐受到人们的重视。目前国际上尚且只有少数成功应用于工业生产的气动位置伺服系统,而且大部分采用的是直动气缸执行元件,因此对摆动气缸位置伺服系统的研究具有一定的理论和实际意义。本文主要对比例流量阀控制的摆动气缸位置伺服系统的控制元件特性和控制策略进行了理论分析和仿真研究,以获得性能较好的气动位置伺服系统。
首先针对比例流量阀控摆动气缸进行了系统特性分析,详细地描述了比例流量阀的特性,建立了系统的线性数学模型。
论文详细阐述了广义预测控制(GPC)的产生背景和发展现状,给出了广义预测控制的基本算法、Diophantine方程的递推求解算法及程序流程图,分析了控制器参数对系统性能的影响和广义预测控制的特点,为后面将其应用于气动位置伺服系统奠定了基础。
在文献的基础上,通过对摆动气缸位置伺服系统的特点分析结合广义预测控制理论的特点,给出了基于摆动气缸的广义预测控制方法。建立系统的CARIMA模型,并对其进行仿真试验。对比了广义预测控制和PID控制的结果,结果显示广义预测控制用于摆动气缸位置伺服系统明显好于PID控制,广义预测控制用于该系统是可行的、有效的。
With the development of industry automation technology,the pneum- atic technology is already applied to each automatic production fields because it have many advantages, such as low cost, the nothing contaminates , safety. As a primary research field, pneumatic servo technology, which is called the railway engine of pneumatic high-tech development and application, has been received more attention from people day by day. Only few of the pneumatic position servo systems succeeded in applying to the industrial production, most of them are for direct-acting air cylinder. So studying the servo system of pneumatic rotary actuator has certain theoretic and actual meaning. This paper has studied systematic characteristic and control strategy for the pneumatic rotary actuator position servo system with proportional flow valves as the control devices from theory and simulation, in order to obtain better performance.
First of all, this paper has analyzed the systematic characteristic,described the characteristic of the proportional flow valve detailedly. Thus,the linear mathematics model has been established.
The thesis has introduced the creation background and the present situation of generalized predictive control (GPC),given and the basic algorithm of GPC , Diophantine equation recursion finds the solution algorithm and procedure flow chart,analyzed its controller parameter to system performance influence,as well as the characteristic of GPC,establish a basis for its application to the pneumatic position servo system later.
On the basic of literature, by analyzing the characteristic of the pneumatic rotary actuator position servo system and combining GPC’s advantages, this thesis presents the method of GPC in the pneumatic rotary actuator system. The thesis has builded the systematic Gating element CARIMA model, and Carried out the simulated experiment. Contrasting the result of GPC with PID’s, it shows that GPC are better than PID, GPC used for the system is feasible, effective.
首先针对比例流量阀控摆动气缸进行了系统特性分析,详细地描述了比例流量阀的特性,建立了系统的线性数学模型。
论文详细阐述了广义预测控制(GPC)的产生背景和发展现状,给出了广义预测控制的基本算法、Diophantine方程的递推求解算法及程序流程图,分析了控制器参数对系统性能的影响和广义预测控制的特点,为后面将其应用于气动位置伺服系统奠定了基础。
在文献的基础上,通过对摆动气缸位置伺服系统的特点分析结合广义预测控制理论的特点,给出了基于摆动气缸的广义预测控制方法。建立系统的CARIMA模型,并对其进行仿真试验。对比了广义预测控制和PID控制的结果,结果显示广义预测控制用于摆动气缸位置伺服系统明显好于PID控制,广义预测控制用于该系统是可行的、有效的。
With the development of industry automation technology,the pneum- atic technology is already applied to each automatic production fields because it have many advantages, such as low cost, the nothing contaminates , safety. As a primary research field, pneumatic servo technology, which is called the railway engine of pneumatic high-tech development and application, has been received more attention from people day by day. Only few of the pneumatic position servo systems succeeded in applying to the industrial production, most of them are for direct-acting air cylinder. So studying the servo system of pneumatic rotary actuator has certain theoretic and actual meaning. This paper has studied systematic characteristic and control strategy for the pneumatic rotary actuator position servo system with proportional flow valves as the control devices from theory and simulation, in order to obtain better performance.
First of all, this paper has analyzed the systematic characteristic,described the characteristic of the proportional flow valve detailedly. Thus,the linear mathematics model has been established.
The thesis has introduced the creation background and the present situation of generalized predictive control (GPC),given and the basic algorithm of GPC , Diophantine equation recursion finds the solution algorithm and procedure flow chart,analyzed its controller parameter to system performance influence,as well as the characteristic of GPC,establish a basis for its application to the pneumatic position servo system later.
On the basic of literature, by analyzing the characteristic of the pneumatic rotary actuator position servo system and combining GPC’s advantages, this thesis presents the method of GPC in the pneumatic rotary actuator system. The thesis has builded the systematic Gating element CARIMA model, and Carried out the simulated experiment. Contrasting the result of GPC with PID’s, it shows that GPC are better than PID, GPC used for the system is feasible, effective.
引文
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[5] Luis R TOKASHIKI, Toshinori FUJ ITA, Toshiharu KAGAWA, Stick-Slip Motion in Pneumatic Cylinders Driven by Meter-out Circuit, Transactions of the Jap- an Hydraulics & Pneumatics Society, Vol. 30, No. 4, July 1999
[6]赵彤.从SMC产品看世界气动技术的发展动向.液压与气动.1993.2
[7]王祖温,杨庆俊.气压位置控制系统研究现状及展望.机械工程学报,2003(12):10-16
[8]王雄耀.近代气动机器人(气动机械手)的发展及应用.液压气动与密封,1999(5): 13-16
[9]贺保国,彭光正,伍清河.模糊PID控制在气动摆缸位置伺服控制中的应用.液压与气动,2004(1):24-26
[10]阎继厚.气压控制工程.中国铁道出版社,1984: 55-57
[11]王永昌,潘先耀.气动伺服控制系统及阀的应用形式[J].燕山大学学报,2002,26(3):206-208
[12]周洪.气动伺服定位技术及其应用.液压与气动.1999(1):18-21
[13]莫松峰,王占林.气动位置系统的开关控制研究.液压与气动.1991(2):8-10
[14]邱志成,谈大龙,王宣银,王庆和.气动伺服及气液联动控制发展概况综述.机床与液压.1999(4):3-6
[15]许宏,赵克定,吴盛林,宋经华.一种新型气压伺服系统的动力机构特性分析.南京航空航天大学学报.2000(10):527-531
[16] J.L.Shearer.Nonlinear Analog Study of High Pressure Pneumatic Servo Mechanism [J].Trans. American Society of Mechanical Engineer,1957 (3):143 -148 .
[17]黄文梅.国外气动位置控制介绍.液压与气动,1998(1):23-26
[18]王祖温.日本气动技术现状及发展(上).液压与气动,1993(4):3-6
[19] L.Gastaldi,E.Codina.Dynamic analysis of pneumatic actuators. Simulat- ion Practice and Theory,Dec,1999,7(5-6):589-602
[20] Shunmugham R Pandian, Fumiaki Takemure, Yasuhiro Hayakawa, Sadao Kawamura. Control Performance of an Air Motor–Can Air Motors Peplace Electric Motors. Proceedings of the 1999 IEEE International Conference on Robotics & Automation, 1999:518-524
[21] H.M.Mahgoub, I.A.Craighead. Development of a microprocessor based Control syst- em for a pneumatic rotary actuator.Mechatronics.Aug, 1995,5(5):541-560
[22] N.D.Tillett, N.D.Vaughan, A.Bowyer.Non-linear model of a rotary Pneumatic servo system.Proceedings of the Institution of Mechanical Engineers,1997,211(2):123-133
[23] Pedro Luis Andrighetto,Antonio Carlos Valdiero,César Nowaczyk Vincensi. Experimental Comparisons of the Control Solutions for Pneumatic Servo Actuators.ABCM Symposium Series in Mechatronics,2004:399-408
[24]陈伟.开关阀式气动马达位置伺服系统的研究.组合机床与自动化加工技术,2002(8):57-59
[25]张剑.开关阀式气动马达位置伺服控制系统的研究.哈尔滨工业大学硕士学位论文,2001
[26]陈伟,张剑.气动机器人气马达关节的研制.液压与气动,2002(10):1-2
[27]彭光正,陈萍,赵彤.带制动装置气缸的PWM位置控制系统.北京理工大学学报,1999,19(3):334-337
[28]李尚义,王春燕,许宏光.一种新型的气压控制系统.机械,1994,21(3):12-14
[29]傅晓云,刘浩,李宝仁.摆动气缸位置伺服控制系统的建模与仿真.机床与液压,2004(8):48-49
[30]李东明,孙宝元,张化岚,武文良.气动执行器技术现状与展望.化工自动表2003,30(2):73-75
[31]徐长寿,易腾.设计制动气缸气压系统的几个基本原则.液压与气动,2004(3): 21-22
[32]彭宽平,林昌杰.气马达变向运动时死区问题的解决方法.液压气动与密封,2004(1):6-9
[33]郑学明,李尚义,刘庆和.气动PCM位置伺服系统的研究.哈尔滨工业大学学报,1995(3):9-13
[34] Shih Ming Chang,Tseng Shy I.Identification and Position Control of a Servo Pneum- atic Cylinder.Control Engineering Practice, 1995(9):1285-1290
[35] Sarmad Aziz, Bary M Bone. Automatic Tuning of an Accurate Position Controller for Pneumatic Actuators. Proceedings of the 1998 IEEE International Conference on Intelligent Robots and Systems, 1998:1782-1788
[36] Van Varseveld, Robert B, Bone Gary M. Accurate Position Control of a Pneumatic Actuator Using On/Off Solenoid Valves. IEEE/ASME Transactions on Mechatronics, 1997,2(7):195-204
[37]李铭,彭光正.模糊PID控制算法在气缸位置伺服控制中的应用.液压与气动,2004(10):55-56
[38]李宝仁,吴金波,杜经民.高压气动位置伺服系统的控制策略研究.液压气动与密封,2002(2):5-7
[39]朱春波,包钢,程树康,王祖温.基于比例阀的气动伺服系统神经网络控制方法的研究.中国机械工程,2001(12):1411-1414
[40]朱春波.基于压力比例阀的气动位置伺服系统控制策略研究.哈尔滨工业大学博士论文,2001
[41]陈正洪,刘延俊,王勇.气动比例位置系统的神经网络控制.机床与液压, 2005(1):8-10
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