【作者】 王秋菊；

【导师】 黄文梅； 钟志华；

【作者基本信息】 湖南大学 ， 机械电子工程， 2004， 硕士

【摘要】 气动系统以其价廉、简单、抗污染能力强等特点，在工业自动化中得到愈来愈广泛的应用。气动伺服控制技术作为一种自动控制手段，在众多的工业领域中已经成功的获得了应用。本文在对气动位置伺服系统的特性进行研究的基础上，通过对控制策略的理论和实验研究，实现了气动位置伺服系统的高精度控制。 气缸的摩擦力和阀的质量流量特性是影响气动位置控制系统的主要因素。本文首先对气缸的动静态特性进行了理论分析，通过实验来建立气缸的摩擦力、比例流量阀流量特性近似的数学模型，对电气机械手位置控制系统建立了非线性数学模型，并通过计算机仿真技术对系统特性进行研究，讨论了系统参数对系统性能的影响，得出系统对阶跃信号、方波信号等的响应特性。在此基础上，对气动位置伺服系统进行了相应的控制策略研究。由于系统具有严重非线性，经典控制方法(如PID控制)很难获得良好的控制效果，不适合于控制对象参数变化、非线性程度大等场合。神经网络具有很强的逼近非线性曲线的能力和泛化能力，即非线性映射能力。本文利用神经网络的学习功能，在线调整参数，抑制因参数变化对系统稳定性造成影响，成功设计出神经网络模型参考自适应控制器，并进行了仿真和实验研究。结果表明，同PID控制相比，本文所提出的控制策略能明显改善系统的动态性能。 最后，设计并建立了气缸的性能检测系统以及气动位置伺服控制系统，编制出计算机辅助测试软件和系统控制软件，对气动位置伺服系统的控制性能进行了实验研究。更多还原

【Abstract】 Pneumatic system is used more and more widely in industry automation because of its virtues such as cheapness, simpleness, strong resistance for pollution and so on. As an automatic control means, pneumatic position servo technology has been applied in many industry. Based on research of the characteristics of the pneumatic position servo system, control methods of the system in theory and practice are developed and high-accuracy positioning is achieved.The friction of the cylinder and the mass flow rate characteristic are important for pneumatic position control system. The static and dynamic behaviors of the cylinder are analyzed in theory in this paper Firstly. The mathematics model of the friction of the cylinder and the flow rate characteristic is founded by experiments. A nonlinear mathematics model of the electric-pneumatic manipulator is presented. Based on this model, compute digital simulation is completed. The infection of the parameter to the system performance is discussed. The response performance of the system to step symbol and wave symbol is gained. Corresponding control strategy is presented for the pneumatic position control system. It is difficult for classic control method to control the pneumatic because it is strongly nonlinear. Neural Net can approach any curve and adjust parameter on-line. The research of simulations shows that the control strategy presented can improve the static and dynamic behavior of the system effectively.Finally, a cylinder test system and a pneumatic position system are designed and established. The computer aimed test software and control software are also carried out. Then the study to the performance of the cylinder and the pneumatic position servo system in practice is presented.更多还原