计算机控制智能高速气动缓冲系统的研究

【作者】 朱力；

【导师】 陶国良；

【作者基本信息】 浙江大学 ， 机械电子控制工程， 2002， 硕士

【摘要】 气动技术具有一系列明显的优点，在工业生产中得到广泛应用，已成为自动化领域中的重要手段。电-气比例／伺服控制技术的出现，使气动系统从传统的点位控制向伺服控制过渡，大大拓展了气动技术的应用领域。计算机控制技术和电-气比例／伺服控制技术的结合，更是对控制系统的性能、系统的结构以及控制理论等多方面都产生了极为深刻的影响。 本文对计算机控制智能高速气动缓冲系统进行了机械、电气、气路系统的设计以及系统建模方法、系统辨识研究和控制策略研究。在此基础上，本文成功完成三套计算机控制智能高速气动缓冲系统的研制工作，并实现了系统的高速气动缓冲控制。 本论文主要分为五个章节： 第一章首先扼要叙述了气动技术的特点、发展状况和最新发展方向；然后介绍了气动缓冲的必要性和发展现状以及发展方向，着重介绍了控制理论在电-气比例／伺服控制技术中的应用以及智能缓冲技术的发展状况：最后指出了用智能PID控制策略实现智能缓冲的可能性，指出了本文研究的主要内容。 第二章首先用机理分析的方法推导了电-气比例／伺服位置控制系统被控对象的数学模型，分析了各种参数对数学模型的影响；然后对系统的动态品质作了研究；最后用估算法建立了系统的数学模型。 第三章，由于电-气比例／伺服位置控制系统的本质为非线性，本章首先用系统辨识方法建立了被控对象数学模型，提出了辨识思想和辨识策略，得到了辨识结果，由仿真和实验证明了用机理分析法建立的数学模型的正确性；同时证明了系统中位时动态品质最差。 第四章首先研究了计算机控制智能缓冲系统的结构设计、信号处理；然后重点研究了PID、PDF控制算法的设计及其参数整定；最后研究分析了控制系统的基本特性，着重分析了阀口死区、系统摩擦力和气路饱和特性等对系统控制性能的影响。 第五章对PID、PDF控制策略系统缓冲性能进行了实验研究，主要研究了给定输入信号频率的改变对系统缓冲性能的影响、长时间工作时系统的重复性和再现性以及不同负载质量下系统的缓冲性能的实现；同时比较了PID、PDF控制策略对系统缓冲性能的影响。最后实验结果表明，本课题用PID、PDF策略很好的实现了三套不同类型的高速气动系统的缓冲，缓冲效果是很不错的。更多还原

【Abstract】 Pneumatic control technique is an important method of automation and has been widely applied in manufacturing because of its unique advantages. The appearance of electropneumtic proportional/servo control methods.which has developed the pneumatic system from traditional point-to-point control way to servo control way, greatly widen the application area of pneumatic system. Now with the development of computer control technique applied in it, computer control technique has had a profound influence on pneumatic system structure/control performance/control theory etc.This thesis deeply researches on the task-computer control smart high-speed pneumatic cushioning system.which mainly includes the design of mechanical structure/electronical circuit/pneumatic loop and the researches of system modeling/simulation/control strategy. On the basis of it, this thesis sets up three sets of different types of pneumatic cushioning systems and successfully realizes their high-speed pneumatic cushioning control.The whole thesis consists of five sections:Chapter one first briefly states the technique feature, the current application situation and the frontiers of pneumatic control techniques, then introduces the necessity.the current development state and the trend of pneumatic cushioning technique, especially introduces the control theory applied in electropneumtic proportional/servo control system ,and the current development state of smart pneumatic cushioning techniques. In the end this chapter points out the subjects of main research work.After deducing the mathematical model of electropneumtic proportional/servo trace controlled system by theoretical analsis .the second chapter discusses some parameters affection to system performance.and then this chapter researches on the system’s dynamic character.finally sets up the math model through estimating method.Because of the essential nonlinear characteristic of electropneumtic proportional/servo control system.the chapter three sets up the system’s identification model with system identification method, puts forward the identification idea and scheme, gets the identification results.and at the sametime proves some foregone conclusions.Chapter four first researches the structure design of computer control samrt cushioning system and the signal processing.then mainly studies the design of PID/PDF control algorithm and their parameters tuning.finally analyzes the basic characteristics of electropneumtic proportional/servo trace controlled system, especial study the influence of the valve dead zone, system friction and saturation phenomenon.The fifth chapter experiments on the cushioning performance of the three sets of systems with PID/PDF algorithm.mainly on how to influence the systems cushioning performance while changing the preset input signal frequency and the load mass.and on the systems’ repeatability.reappearance and the stability.Additionally this chapter compares the PID algorithm with the PDF algorithm in their influence on system cushioning performance.The final experiment results testifies that the thesis successfully realizes the expected cushioning effects of the three different sets of high-speed pneumatic system.更多还原