气缸高速缓冲控制系统的研究

【作者】 鲍伟；

【导师】 陶国良； 周洪；

【作者基本信息】 浙江大学 ， 机械电子工程， 2003， 硕士

【摘要】 气动技术以其特有的优势，在工业生产中得到了广泛应用，已成为自动化领域中的重要手段。现代化生产线要求气动系统的负载更高、速度更快、寿命更长，这使得气缸高速运行到端位停止时的缓冲问题显得越来越重要。本论文主要研究气缸缓冲控制系统的控制策略，主要分为以下六个章节： 第一章首先概述了气动技术的特点、应用现状和最新发展趋势，然后介绍了气缸缓冲技术的研究意义和发展过程。最后指出了本课题的提出过程和研究内容，着重介绍了电-气比例／伺服位置控制技术在气缸缓冲控制中的应用，并总结了本论文的主要工作。 第二章首先用机理分析的方法推导了电-气比例／伺服缓冲控制系统的数学模型，得到系统状态方程和传递函数。然后用系统辨识方法来建立系统数学模型，验证了气缸缓冲控制系统用三阶模型描述较合理，这为后面控制策略设计提供了依据。 第三章首先介绍了气缸缓冲控制系统实验平台的硬件设计和结构，包括气动部分和计算机控制部分。然后介绍了一种基于MATLAB软件的控制策略研究平台，由于充分利用了MATLAB软件包中的各种资源，将理论分析、仿真和实时控制有机地结合，大大提高了控制策略研究的效率。最后介绍了自己设计编写的基于VC的实时控制软件，可任意设计和修改实时控制算法，由于采用了硬件中断实时采集数据，保证了控制的实时性和可靠性。 第四章首先将电-气比例／伺服控制引入到缓冲控制中，分析了系统被控对象的基本特性，着重分析了气源压力变化、阀口死区、系统摩擦力特性和气路饱和现象对控制系统的影响。然后研究了微分加滤波、压力传感器和两类降维状态观测器这三种系统状态估计的方法，比较分析了各自的优缺点。最后一部分研究了实现系统状态反馈控制的方法，包括试凑法和极点配置法，并分析了各反馈参数、气源压力和负载质量对控制性能的影响。 第五章首先介绍了变结构控制的原理和应用发展情况，然后针对本实验系统设计了一个使用开关阀和端位位移传感器的变结构控制方案，实现缓冲过程的平稳无冲击和无回弹要求，并在不同气源压力、不同负载质量下分析了控制性能的变化，实验结果证明缓冲控制采用变结构控制是可行的，并具有很强的鲁棒性。 第六章是论文总结和展望。更多还原

【Abstract】 Pneumatic control technique has been widely used in manufacture and become an important method of automation due to its unique advantages. Modern product line requires pneumatic system to have heavier load, higher speed and longer life. So the cushioning of the actuator is becoming more important. This thesis deeply researches on cushioning control strategy of the pneumatic cushioning control system. The whole thesis consists of six sections:Chapter 1 first briefly states the pneumatic technique feature, the current application situation and the foreground of pneumatic control technique. Then it introduces the developing-history and current application situation of pneumatic cushioning methods. In the end this chapter points out the main content of the research work, especially introduces the electropneumtic proportional/servo control theory and application.Chapter 2 deduces the mathematical model of electropneumtic proportional /servo cushioning controlled system by theoretical analysis. Because of the essential nonlinear characteristic of electropneumtic proportional/servo control system, the three orders model is validated right by system identification method. This result provide base for the controller design.Chapter 3 firstly introduces the hardware structure design of the control system which including pneumatic part and computer control part. Then a control strategy research platform based on MATLAB software is presented. Because of using a lot of resources and integrating analyse, simulation and real-time control, the efficiency of research is improved greatly. In the end this chapter a real-time control software programmed by author is presented. User can chang it freely. The signals sampled on hardware interrupt assure the real-time property and control reliability.Chapter 4 first analyzes the basic characteristics of electropneumtic proportional /servo cushioning controlled system, especial study the influence of the valve dead zone, system friction and saturation phenomenon. After that this chapter discusses three ways that gets system state (differential+filter, two kinds of state observer, pressure sensor) and compare with each other. At last this chapter researches two ways that make system performance optimal, test way and pole allocation way. The affections of feedback parameters, air pressure and load quality are analyzed.Chapter 5 introduces the theory, application and foreground of the VSC (variablestructure control) system. Then a VSC controller using ON-OFF valve and two potentiometers are designed for cushioning control system. It can realize the balanced, no shock, no reversing cushioning. Experiments under different air pressure, load mass are carried out, and the results prove that the VSC controller can be used in pneumatic cushioning. It has good performance and robustness property. Chapter 6 summarizes the paper.更多还原