一种气垫车气动系统设计及基于反演自适应滑模控制方法的研究  

Design and Research on Pnumatic Driving Based on Adaptive Backstepping Slide Mode Control for Air Tranfer System

作　　者：汪步云 许德章 高理富[2] WANG Bu-yun XU De-zhang GAO Li-fu(College of Mechanical and Automotive Engineering, Anhui Polytechnic University,Wuhu 241000, China Robot Sensors and Human-Machine Interaction Laboratory, Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031,China)

机构地区：[1]安徽工程大学机械与汽车工程学院,安徽芜湖241000 [2]中国科学院合肥智能机械研究所机器人传感器与人机交互研究室,安徽合肥230031

出　　处：《安徽工程大学学报》2017年第4期37-48,61,共13页Journal of Anhui Polytechnic University

基　　金：芜湖市科技计划基金资助项目(2016CXY03)

摘　　要：针对用于ITER部件转动的气垫车,设计了气压驱动系统,研究了气垫的控制方法.首先,探讨了气垫孔口出流的运动学特性,建立了气垫气动伺服控制的数学模型.其次,在建立气垫状态方程基础上,提出了一种基于压力输入的反演自适应滑模控制方法,以实现气垫飞高的高精度控制.最后,采用AMESim与Matlab对提出的控制方法进行了联合仿真,仿真实验结果表明,提出的控制方法可克服气垫工作点的不稳定性,验证了对气垫控制的有效性.Design and research on pnumatic driving with control methods for air film transporter aiming at ITER（International Thermonuclear Experimental Reactor） cask system transfer has been discussed in this paper.Firstly, the orifice flow of air bearing and mathmatical descriptionon on the pnumatic servo driving was discusseed. Moreover, an adaptive backstepping sliding mode controller was introduced to the high precision pressure control for deflated thickness of air bearing b.ased on establishment of the state equations.Finnaly,the the control schemes and methods have been tested and verified according to the joint simulation of Matlab-AMESim which can enhance the stable working of air bearing.

关 键 词：热核聚变实验堆 气垫车 气垫 滑模控制 飞高控制 

分 类 号：TH232[机械工程—机械制造及自动化]