一种气动位置伺服系统的辨识建模方法  

Identification and Modeling Method for Pneumatic Position Servo System

作　　者：柏艳红[1] 李小宁[1] 

机构地区：[1]南京理工大学机械工程学院

出　　处：《南京理工大学学报》2007年第6期710-714,共5页Journal of Nanjing University of Science and Technology

基　　金：山西省高校科技研究开发资助项目(2007141)

摘　　要：针对具有强非线性特性的气动位置伺服系统,难以建立能较准确反映系统特性的线性化数学模型这一问题,该文提出采用基于"灰匣子"的系统辨识法建立比例流量阀控摆动气缸位置控制系统的数学模型,该方法依据摆动缸两腔压力差动态过程与摩擦力无关的特点,将压力差动态过程近似线性化方程与运动方程相结合,构成三阶状态空间模型,采用闭环定位辨识的方法确定模型中的参数。仿真和实验结果表明:采用该方法建立的数学模型能够反映实际系统的动态特征,所提出的建模方法是可行的。Due to the strong nonlinearities of the pneumatic position servo system, it is difficult to establish linearized mathematic model of the system that can reveal the system behaviors more precisely. To solve the problem, a system identification method based on the ＂gray box＂ is used to establish the linearized mathematic model of the pneumatic rotary actuator angular position servo system with proportional flow valves as the control devices. Considering that the dynamics of the pressure difference is independent of the friction, a three-order space state linear model is formed through combining the approximate linearization dynamic equation of the pressure difference with the motion equation, and its parameters are obtained by a closed-loop appointed-point identification method. The results indicate that the model established by the proposed modeling method can reflect the characteristics of the real system and that the feasibility of the method is confirmed.

关 键 词：比例流量阀 气动位置伺服系统 系统辨识 数学模型 

分 类 号：TH138.51[机械工程—机械制造及自动化]