气动比例位置系统速度反馈与不完全微分PID控制  

Speed Feedback and Incomplete Differential PID Control of Pneumatic Proportional Position System

作　　者：孙瑞芳 张晓龙[1] 梁文凯 谢晓全 SUN Ruifang;ZHANG Xiaolong;LIANG Wenkai;XIE Xiaoquan(Shool of Mechanical Electrical Engineering,Kunming University of Science and Technology,Kunming 650000,China)

机构地区：[1]昆明理工大学机械工程学院,云南昆明650000

出　　处：《电子科技》2020年第4期65-70,共6页Electronic Science and Technology

基　　金：昆明理工大学科学研究基金(KKSY201220155)。

摘　　要：随着气动技术在各个领域的应用日渐广泛,气动比例位置控制系统优化已成为发展的必然趋势。文中建立了气动比例位置系统的数学模型,绘制系统Bode图并验证了其稳定性。通过引入速度反馈,并结合不完全微分型PID对气动比例位置系统的响应时间、精度和稳定性进行分析。仿真结果表明,引入速度反馈的不完全微分型PID校正的系统阶跃响应曲线,对比无校正、普通PID和不完全微分型PID对于阶跃信号的响应,其时间降低2.1 s,稳态误差下降0.22 mm,响应时间和稳态误差皆依次递减,响应过程更加平稳。引入速度反馈的不完全微分型PID校正的正弦追踪误差更小、稳定性更强、追踪效果更佳。该校正方法使系统响应速度大幅度提升的同时,显著增大了系统的精度并改善了系统的动静态特性。Pneumatic technology has been widely used in various fields.The optimization of pneumatic proportional position control system has been the inevitable trend of development.This study established the mathematical model of the pneumatic proportional position system,drew the Bode diagram of the system and verified its stability.The response time,accuracy and stability of the pneumatic proportional position system were analyzed by introducing velocity feedback and combining with the incomplete differential PID.The simulation results showed that the step response curves of the system with speed feedback and incomplete differential PID correction could reduce the response time by 2.1 s and the steady-state error by 0.22 mm compared with those of uncorrected,ordinary and incomplete differential PID correction.The response time and steady-state error decreased in turn,and the response process was more stable.The incomplete differential PID correction with speed feedback was introduced,so that the sinusoidal tracking error was smaller,the stability was stronger,and the tracking effect was better.Therefore,while the response speed of the system was greatly improved,the accuracy of the system was significantly increased.These results demonstrated that the dynamic and static characteristics of the system were significantly improved.

关 键 词：气动 位置控制 比例 PID 不完全微分 速度反馈 

分 类 号：TP211[自动化与计算机技术—检测技术与自动化装置]