基于滑模控制的航空气动伺服控制系统  

Aerial Pneumatic Servo Based on Sliding Mode Control

作　　者：于仲[1] 何立民[1] 陈永刚[2] 刘建勋[1] 

机构地区：[1]陕西省西安空军工程大学工程学院,710038 [2]西安市东郊空军工程大学工程学院研究生11队博士班,710038

出　　处：《微计算机信息》2005年第07S期120-122,148,共4页Control & Automation

摘　　要：本文提出了一种滑模控制方法并应用在无杆汽缸气动执行机构的位置控制中。由于受空气可压缩性、摩擦力以及随时间变化的系统参数的非线性影响,气动系统的精确数学模型很难获取。本文选用了一个三阶气动系统的动态模型,并且不考虑比例控制阀的动态特性。同时为了避免控制信号引发高频振荡,在建模过程中用平稳光滑的饱和度函数代替sgn(.)函数。仿真和实验结果表明,本文提出的滑模控制策略能够保证位置控制在合理的精度范围内并取得了良好的控制效果,尤其适用于比例伺服阀控制的无杆汽缸电气控制系统。This paper proposes a sliding mode control approach and applies in the position control of a rodless cylindrical pneumatic actuator. It is difficult task to obtain an accurate mathematical model of pneumatic drives due to significant system nonlinearities, caused by air compressibility, friction effects and variations of process parameters with time. A linearized third-order dynamic model of the process, without the dynamics of the proportional valve, was used to perform a simulation study. Undesirable high-frequency dynamics is avoided by replacing the sign function by a smooth saturation function. Simulation and experiments demonstrate the proposed control strategy can be used to realize the control system requirements achieving a reasonable positioning accuracy. And bring about good control results, particularly for electro-pneumatic servo system that consists of a rodless cylinder controlled by a proportional servo valve.

关 键 词：非线性 滑模控制器 边界层 伺服执行机构 比例控制阀 滑动面 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]