气动位置伺服系统状态反馈控制的改进  

Improvement of the State Feedback Control for Pneumatic Position Servo System

作　　者：柏艳红[1] 李小宁[2] 

机构地区：[1]太原科技大学电子信息工程学院,太原030024 [2]南京理工大学SMC气动技术中心,南京210094

出　　处：《机械工程学报》2009年第8期101-105,共5页Journal of Mechanical Engineering

基　　金：山西省高校科技研究开发资助项目(2007141)

摘　　要：基于一种能反映气动位置伺服系统特性的线性化数学模型,对压力差反馈的控制性能进行了理论分析,由分析结果可知,压力差反馈虽然能够该善系统的动态性能,但会引起较大的稳态偏差。在此基础上,提出以压力差微分反馈代替压力差反馈,采用位置、速度和压力差微分反馈控制来改善系统的控制性能,理论分析了该方法的有效性。为了抑制气动位置伺服系统存在的期望值附近的位移波动现象,提高系统的控制精度,提出压力差辅助控制方法。将所提出的控制方法应用于摆动气缸位置伺服系统,试验结果表明,系统获得了较好的控制性能。Based on a linearized mathematic model that can reveal the system behaviors more precisely, the system performance with the pressure difference feedback is analyzed theoretically, and it is concluded that the feedback of the pressure difference can improve the dynamic performance but will cause great steady-state deviation. On this basis, a position plus velocity plus derivative of the pressure difference feedback control method （PVDDP） is proposed to improve the control performance of the system, and the validity is analyzed theoretically. Moreover, to avoid the displacement fluctuation phenomenon around the desired position and improve the positioning accuracy, a pressure difference control auxiliary approach is presented. Experimental results show that the pneumatic rotary actuator position servo system with the proposed control method achieves better control performance.

关 键 词：气动位置伺服系统 理论分析 状态反馈控制 压力反馈 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]