气液联控伺服系统的滑模位置控制研究  

Position Control of Pneumatic Hydraulic Combination Control Servo System Using Sliding Control Method

作　　者：王洪艳[1] 赵克定[2] 崔向华[2] 

机构地区：[1]电子科技大学,四川成都611731 [2]哈尔滨工业大学,黑龙江哈尔滨150001

出　　处：《机床与液压》2010年第3期1-3,28,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(50175016)

摘　　要：提出了基于PWM控制气液联控位置系统的建模方法,应用非线性平均方法建立了PWM气压伺服系统的数学模型,不仅解决了开关的不连续性问题,还把原来不连续的非仿射输入形式变成一个等效具有可控规范型的非线性仿射输入形式。然后运用滑动模态变结构理论中的经典非线性设计方法,设计了三阶滑模面变结构控制器。对固定阻尼式气液联控系统进行了位置控制仿真实验。实验结果表明,滑模变结构控制使得系统快速性能比较好。A new modelling method of the pneumatic hydraulic combination control （PHCC） servo system was presented, which was driven by Pulse-Width-Modulation （PWM）. The model of PWM pneumatic systems was built by nonlinear state averaging method, which overcame discontinuity of on/off valves, and changed discontinuous non-affine form into a control canonical nonlinear affine form. A three-rank sliding controller was designed according to traditional nonlinear design method of sliding mode variable structure theory. The simulation of position control was implemented on fixed liquid throttled PHCC servo system. The simulation results show that the PHCC servo system using sliding control method has quick response speed.

关 键 词：建模 PWM 位置控制 滑模控制 

分 类 号：TP138[自动化与计算机技术—控制理论与控制工程] TP13[自动化与计算机技术—控制科学与工程]