气动伺服系统的摩擦力与死区参数辨识及控制  

Identification and control of friction parameters and dead zone parameters of pneumatic servo system

作　　者：孟凡淦 陶国良[1] 王帮猛 陶俊[1] 陈烨[1] MENG Fangan;TAO Guoliang;WANG Bangmeng;TAO Jun;CHEN Ye(State Key Laboratory of Fluid Power&Mechatronic Systems,Zhejiang University,Hangzhou 310027,China)

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027

出　　处：《中南大学学报（自然科学版）》2018年第11期2700-2708,共9页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(51375430)~~

摘　　要：为了精确描述气缸的摩擦力,实现气缸的高精度轨迹跟踪控制,并提高算法的可移植性,提出基于遗传算法的气缸LuGre摩擦模型参数辨识方法和基于气缸充气腔压力变化的比例方向阀死区辨识方法。通过仿真分析,验证遗传算法在辨识摩擦力静动态参数时的可靠性;以单缸气动伺服系统为研究对象,分别建立比例方向阀和气缸的数学模型,设计基于反步法的非线性鲁棒控制器,开展气缸活塞运动跟踪不同频率的正弦轨迹曲线和三阶加减速曲线实验。研究结果表明:基于遗传算法的摩擦力参数辨识和基于气缸压力变化的比例方向阀死区辨识方法均能获得精确的辨识结果,本文所设计的控制器能实现气缸高精度轨迹跟踪控制。To describe the friction and track trajectory of cylinder precisely and improve the portability of the control strategy,a method of parameter identification based on genetic algorithm for LuGre friction model of pneumatic cylinder and a method of dead zone identification for proportional directional valve were proposed.The reliability of genetic algorithm in identifying static and dynamic parameters of friction was verified by simulation test.Mathematical models of single cylinder and proportional directional valve were established,and the robust controller based on the backstepping method was designed.Experiments were conducted to track sinusoidal trajectory with different frequencies and three order accelaration and decelaration trajectory.The results show that accurate results can be obtained from methods of parameter identification for LuGre friction and dead zone of proportional directional valve,and trajectory tracking control with high precision can be achieved from the designed robust controller.

关 键 词：气动伺服系统 LuGre摩擦力辨识 死区辨识 遗传算法 非线性鲁棒控制 轨迹跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]