基于磁流变的气动位置速度复合控制策略  

Control Strategy of Pneumatic Position and Speed Hybrid Based on MR

作　　者：钱炳芸[1] 朱革兰[2] 

机构地区：[1]淮北职业技术学院机电工程系,安徽淮北235000 [2]华南理工大学电力学院,广州510640

出　　处：《控制工程》2015年第3期555-558,共4页Control Engineering of China

基　　金：2012年安徽省专业综合改革项目(2012zy092);2012年安徽省重点教研项目(2012jyxm672)

摘　　要：为了提高线性气缸的定位精度、减小制动冲击,提出了基于磁流变阻尼器的位置速度复合控制策略。依据气缸两腔压力差和磁流变阻尼特性,建立了气动系统定位过程的动力平衡方程,通过分析阻尼控制电流的变化规律和系统响应对定位精度的影响,分别提出了速度柔性控制和位置补偿控制算法。在该算法下采用位置速度复合控制策略进行试验研究表明定位误差随着负载质量的增大而增大,随着目标位置的增大而减小,对气源压力波动有较好鲁棒性。该控制策略在改善系统冲击特性的基础上提高了定位精度,为磁流变技术在气动位置伺服控制中的应用提供了理论与试验依据。To improve the positioning accuracy and reduce the braking shock of the linear cylinder, a speed and position hybrid control strategy is proposed based on the magneto rheological （MR） damper. According to the pressure difference between two cavities of the pneumatic actuator and damping characteristics of MR, the dynamic equilibrium equation in the positioning process is established. By analyzing the changing regularity of damping control current and the influence of system response on the positioning accuracy, flexible speed control and position compensation control algorithm are proposed respectively. Using speed and position hybrid control algorithm, experiment results show that the positioning error increases with the increase of load quality, and decreases with the increase of target location, and it is robust to the pressure fluctuation. The control strategy effectively improves the positioning accuracy of the system based on the improvement of the impact property, and provides theoretical and experimental foundation for the MR application in the area of pneumatic positioning control.

关 键 词：气动系统 磁流变阻尼器 位置补偿 位置速度复合控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]