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浙江大学学报(工学版)
机械工程     
气动位置伺服嵌入式控制器及控制策略
陶国良, 周超超, 尚策
浙江大学 机械工程学院,浙江 杭州 310058
Pneumatic position servo embedded controller and control strategy
TAO Guo-liang, ZHOU Chao-chao, SHANG Ce
College of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
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摘要:

针对现有嵌入式气动伺服控制器的软件功能不足,设计实现了基于DSP的嵌入式气动伺服控制器;建立比例方向阀控气缸系统的模型,采用基于反步法设计的自适应鲁棒控制策略,在线参数估计进一步提高了稳态跟踪精度.运用基于模型的设计方法,在MATLAB/Simulink工具下进行算法设计仿真,将模型进行系列转换后可以自动快速生成控制器控制算法软件,结合DSP硬件驱动和上位机监控软件进行实验验证.结果表明,气动伺服DSP控制器轨迹跟踪误差在5%内,达到了控制周期小于1 ms的实时性.

Abstract:

An embedded pneumatic servo DSP controller was designed in view of the deficiency of the existing embedded pneumatic servo controller software. The model of proportional direction valve controlled cylinder system was established, which adopted adaptive robust control strategy designed by back-stepping method. Online parameter estimation improved the tracking precision further in steady state. Control algorithm design and simulation was conducted in the tool of MATLAB/Simulink based on Model Based Design method. The controller software could be generated automatically and rapidly after series of model transformation, and was combined with DSP hardware driver and PC monitor. Control software experiments were conducted to verify the performance. Results showed that the pneumatic DSP servo controller trajectory tracking control error was within 5%, and the duration of control was up to 1 ms.

出版日期: 2017-04-25
CLC:  TP 23  
基金资助:

国家自然科学基金资助项目(51375430).

作者简介: 陶国良(1964—),男,教授,博导,从事气动电子技术、气动伺服控制、工业自动化控制和测试、燃料电池、空气压缩机及压缩空气气动发动机等研究. ORCID:0000-0003-1643-6047. E-mail: gltao@zju.edu.cn
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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), 10.3785/j.issn.1008-973X.2017.04.021.

TAO Guo-liang, ZHOU Chao-chao, SHANG Ce. Pneumatic position servo embedded controller and control strategy. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2017.04.021.

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