高速开关阀控气动位置伺服系统的自适应鲁棒控制  

Adaptive Robust Control of Pneumatic Cylinders Using Fast Switching on/off Solenoid Valves

作　　者：孟德远[1,2] 陶国良[2] 李艾民[1] 李威[1] 

机构地区：[1]中国矿业大学机电工程学院,徐州221116 [2]浙江大学流体动力与机电系统国家重点实验室,杭州310027

出　　处：《机械工程学报》2015年第10期180-188,共9页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51375430);中国博士后科学基金(2014M551685)资助项目

摘　　要：针对高速开关阀控气动位置伺服系统所具有的模型参数不确定性、不确定非线性以及外干扰,为实现气缸的高精度运动轨迹跟踪控制,设计了基于标准投影映射的自适应鲁棒控制器。该控制器通过在线最小二乘参数估计来减小模型中参数不确定性,利用基于反步法设计的非线性鲁棒控制来抑制参数估计误差、不确定非线性以及外干扰的影响,从而保证一定的瞬态性能和高的气缸运动轨迹控制精度。由于运用了标准投影映射以保证在线参数估计有界,控制器的两个部分可以独立进行设计。试验表明,所设计的控制器能获得良好的轨迹跟踪控制性能,对干扰具有较强的性能鲁棒性,系统跟踪幅值为0.09 m,频率为0.5 Hz的正弦期望轨迹时,最大绝对跟踪误差为1.51 mm,标准跟踪误差0.72 mm。A standard projection mapping-based adaptive robust controller is proposed to achieve high-accuracy motion trajectory tracking control of a pneumatic cylinder driven by fast switching on/off solenoid valves. Due to the model errors, unmodelled dynamics and the unknown disturbances, there exist large parametric uncertainties and rather severe uncertain nonlinearities in the modeling of the pneumatic position servo system. To address these problems, the proposed controller employs on-line parameter estimation to reduce the extent of parametric uncertainties, and utilizes a nonlinear robust control method to attenuate the effects of parameter estimation errors, uncertain nonlinearities and disturbances. Therefore, a prescribed transient control performance and high tracking accuracy is guaranteed. In addition, the complete separation of the estimator design and the robust control law design is realized due to the adoption of the standard projection mapping technology. Extensive experimental results are presented to illustrate the effectiveness of the proposed controller and its performance robustness to sudden disturbances. For tracking a sinusoidal trajectory with amplitude of 0.09 m, frequency of 0.5 Hz, the maximum absolute tracking error is 1.51 mm and the root-mean-square tracking error is 0.72 mm.

关 键 词：气动位置伺服系统 运动轨迹跟踪控制 自适应鲁棒控制 高速开关阀 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]