气动位置控制系统建模及控制策略研究

【作者】 赵升奇；

【导师】 黄文梅；

【作者基本信息】 湖南大学 ， 机械电子工程， 2003， 硕士

【摘要】 气动系统具有许多显著的优点，在工业自动化中得到愈来愈广泛的应用。气动比例位置控制系统由于其价廉、简单、抗污染能力强，已成为气动伺服技术中的重要课题。但是由于气体的压缩性、系统的非线性等因素的影响，使得气动比例位置控制系统难以获得满意的性能。本文对气动比例伺服控制系统的基本特性和控制系统方法进行了研究。 本文共分五章。第一章综述了气动技术以及气动伺服系统的研究与发展现状。第二章分析了气动比例位置控制系统重要参数的实验测量以及系统的非线性数学模型和线性数学模型。第三章主要是控制系统控制器的设计，针对常规PID算法的缺点，本文将PID与神经网络相结合，利用神经网络的自学习功能实时的改变控制器的参数。同时对仿真方法做了改进，利用第二章所建立的非线性数学模型进行了仿真，对系统的运行和设计具有指导意义。第四章研究了二自由度气动机械手的平面定位问题。气动机械手在工作过程中参数会不断发生变化，给控制器的设计带来很大困难。实验结果表明，由于单神经元PID控制器的自学习、自适应的特点，成功地实现了气动机械手的平面定位问题。最后是全文的结论与展望。更多还原

【Abstract】 Pneumatic system has been widely used in industrial automation because of its unique advantages. As a kind of low cast, simple and anti-pollution system, pneumatic proportional position servo system has become the top subjects in the fields of pneumatic servo technique in recent years. But it is difficult to obtain satisfied performance of the system because of the compressibility of air and the nonliearity of the system. This paper studies the fundamental characteristics and the control method of the pneumatic proportional position servo system.This paper consists of five chapters. In the first chapter, the research situation and development of the pneumatic technique are generalized. In chapter two, how to measure some important parameters of pneumatic position servo systems are analyzed, and then induce to the nonliearity and linearity mathematics model. How to design the controller are mainly discussed in chapter three. Because of the difficulties of the PID arithmetic, signal neuron controller (SNC) are combined in order to overcome the shortages of the PID arithmetic, which has self-learning and self-adaptive ability. Experimentations show that SNC has self-adjustment ability and the results of controlling are satisfactory. Also we use the nonliearity of the pneumatic proportional position servo system to emulate, and the result can guide the design and operating of the system. Chapter 4 studies the positioning of the pneumatic manipulator with two dimensions in a plane. The parameters of the pneumatic manipulator are always changing, which makes design the controller more difficult. The results of experimentations show that the SNC can quite well resolve this question and the results of controlling are satisfactory. The last part is the conclusion and author’s closure.更多还原