基于四开关阀错时调制的气动位置控制系统研究  

Research on Pneumatic Servo Position Control System Based on Time Interlaced Modulation with Four On-off Valves

作　　者：谢琦 林忠麟 张天宏[1] XIE Qi;LIN Zhong-lin;ZHANG Tian-hong(College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics,Nanjing210016, China)

机构地区：[1]南京航空航天大学能源与动力学院

出　　处：《液压气动与密封》2019年第5期19-25,共7页Hydraulics Pneumatics & Seals

基　　金：航空科学基金资助项目(2016ZD52038);江苏省普通高校研究生科研创新计划项目(中央高校基本科研业务费专项资金资助)(KYLX16_0396);南京航空航天大学研究生创新基地开放基金(中央高校基本科研业务费专项资金资助)(kfjj20170207)

摘　　要：为了解决高速开关阀自身存在的开关死区问题,提出了一种通过优化配置四个高速开关阀开关时机实现气动位置伺服控制的策略。该策略将充放气阀同时打开一段时间,并调节充放气阀关闭的时间差来调控腔内气压,这种策略避免了开关阀的半闭合状态,从而将位置控制的死区大幅减少。在此基础上,采用滑模控制器代替传统的PID控制器,解决气动系统存在的强非线性难以控制的问题。针对气动位置控制系统搭建了一个解析模型,通过仿真验证了错时调制策略的优越性。搭建了实物试验平台,开展了实物试验。结果表明,在采用该控制策略后,能够实现准确无超调且稳态误差低于0.5%的阶跃位置控制,并能够较好地跟踪上0.2Hz正弦指令信号。In order to solve the dead-zone problem of the high-speed on-off valve, a strategy of pneumatic position servo control is proposedwhich is realized by optimizing the switching time of four high-speed on-off valves. The strategy opens all valves at the same time and adjusts the time difference between the charging and discharging valves to control the air pressure. This strategy avoids the semi-closed state of the on-off valve, thus drastically reducing the dead-zone of the position control. Furthermore, the sliding mode controller is used to solve the strong nonlinear characteristics of the pneumatic system instead of the traditional PID controller. A model based on theoretical formulas is built for the pneumatic position control system, and the superiority of the Time Interlaced Modulation strategy is verified by simulation. The experiment platform is built and the testis carried out. The results show that the step position control can achieve accurate no overshoot and steady state error is less than 0.5%. The position control systemcan also track a 0.2 Hz sinusoidal signal.

关 键 词：高速开关阀 错时调制 滑模变结构控制器 气动位置伺服控制 

分 类 号：TH138.7[机械工程—机械制造及自动化]