自校正调节器在具有阻力负载的气动位置伺服系统中的应用  

Research on self-uning regulatorof pneumatic position servo-system with resistant load

作　　者：王鹏[1] 彭光正[1] 伍清河[1] 

机构地区：[1]北京理工大学自动控制系气动中心,北京100081

出　　处：《控制理论与应用》2004年第4期561-564,共4页Control Theory & Applications

基　　金：国家自然科学基金项目(69904003);教育部博士点基金项目(B-122).

摘　　要：以空气为传输介质的气动位置伺服系统,由于自身结构的特殊性,难以实现高精度位置控制.为研究工作过程中气缸所受柔性作用力,并真实反映气动系统的控制过程,利用气缸模拟实际环境中系统的负载外力,采用三阶模型描述系统,并运用自校正调节器完成了对系统控制律的设计;最后通过实验研究了自校正调节器对气动位置伺服系统的动态、静态特性的影响并根据仿真实验结果分析了气动系统跟踪响应迟滞性的根本原因.The pneumatic position servo_system uses gas as transmission medium.But due to the special characteristics of the gas,it is difficult to achieve the accurate control of the servo_system.To study the soft outside force of the cylinder and truly image system control process, a method that uses cylinder to simulate actual resistant load of position servo_system is proposed.The system was described with a three_order model firstly,and the control law with self_tuning regulator was deduced.Then,through experiments,the effect of the self_tuning regulator on system dynamics and static performance was discussed.Finally,based on simulation results,the hysteresis of the system tracking response was analyzed.

关 键 词：气动位置伺服系统 阻力负载 自校正调节器 性能指标 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]