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浙江大学学报(工学版)
J4  2013, Vol. 47 Issue (9): 1611-1619    DOI: 10.3785/j.issn.1008-973X.2013.09.015
机械工程     
气动力伺服系统的自适应鲁棒控制
孟德远,陶国良,钱鹏飞,班伟
浙江大学 流体动力与机电系统国家重点实验室,浙江 杭州 310027
Adaptive robust control of pneumatic force servo system
MENG De-yuan, TAO Guo-liang, QIAN Peng-fei, BAN Wei
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027,China
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摘要：

为实现具有输出力轨迹控制能力的气动力伺服系统,研究了气体通过比例方向控制阀阀口的流动以及气缸腔内气体的热力过程,建立系统的非线性模型.针对忽略温度动态而导致的较大的建模误差,构造了状态观测器来估计腔内气体温度,在此基础上设计了基于全阶热力学模型的气动力伺服系统的自适应鲁棒控制器.该控制器通过在线参数估计来减小模型中参数的不确定性,利用非线性鲁棒控制来抑制参数估计误差、未建模动态和干扰的影响,从而保证一定的瞬态性能和高的气缸输出力轨迹控制精度.实验表明：当系统跟踪幅值为100 N,频率为0.5 Hz的正弦期望轨迹时,平均输出力跟踪误差为1.4 N、最大输出力跟踪误差为3.9 N；基于全阶热力学模型进行控制器设计是必要的,自适应鲁棒控制器是有效的.
关键词： 气动伺服系统;  力控制;  滑模控制;  自适应控制;  温度观测器    
Abstract:

In order to realize precision force trajectory tracking control of pneumatic force servo system,the control valve flow characteristics and the thermodynamic properties of the air inside pneumatic cylinder chambers were studied and then a nonlinear model of the system was developed. Since the thermodynamic model order reduction will introduce significant modeling errors, temperature observers were constructed to estimate the chamber temperature. Then, an adaptive robust controller based on full-order thermodynamic model was proposed. The controller employs on-line parameter estimation to reduce the extent of parametric uncertainties, and utilizes a nonlinear robust control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. Therefore, the prescribed output force transient control performance and high tracking accuracy are guaranteed. Experimental results demonstrate that when a sinusoidal trajectory with amplitude of 100 N, frequency of 0.5 Hz, the average output force tracking error is 1.4 N and the maximum output force tracking error is 3.9 N．It is proven that the proposed controller is effective and the adoption of full-order thermodynamic model is necessary.
Key words: pneumatic servo system    force control    sliding mode control    adaptive control    temperature observer
出版日期: 2013-09-17
:  TP 273  
基金资助:

国家自然科学基金资助项目（50775200,50905156）．
通讯作者: 陶国良,男,教授,博导.     E-mail: gltao@zju.edu.cn
作者简介: 孟德远(1982–),男,博士生,从事气动伺服控制研究. E-mail: tinydream@zju.edu.cn
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引用本文:

孟德远,陶国良,钱鹏飞,班伟. 气动力伺服系统的自适应鲁棒控制[J]. J4, 2013, 47(9): 1611-1619.

MENG De-yuan, TAO Guo-liang, QIAN Peng-fei, BAN Wei. Adaptive robust control of pneumatic force servo system. J4, 2013, 47(9): 1611-1619.

链接本文:

http://www.zjujournals.com/xueshu/eng/CN/10.3785/j.issn.1008-973X.2013.09.015    或    http://www.zjujournals.com/xueshu/eng/CN/Y2013/V47/I9/1611

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