【作者】 韩晓丽；

【导师】 孙志毅； 柏艳红；

【作者基本信息】 太原科技大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 随着工业自动化技术的发展,气动技术由于其成本低、无污染、安全可靠等诸多优点,已经被应用于自动化生产的各个领域。而作为此学科前沿研究领域之一的气动伺服技术更是被称为气动技术今后高科技应用发展的火车头,日渐受到人们的重视。目前国际上尚且只有少数成功应用于工业生产的气动位置伺服系统,而且大部分采用的是直动气缸执行元件,因此对摆动气缸位置伺服系统的研究具有一定的理论和实际意义。本文主要对比例流量阀控制的摆动气缸位置伺服系统的控制元件特性和控制策略进行了理论分析和仿真研究,以获得性能较好的气动位置伺服系统。首先针对比例流量阀控摆动气缸进行了系统特性分析,详细地描述了比例流量阀的特性,建立了系统的线性数学模型。论文详细阐述了广义预测控制(GPC)的产生背景和发展现状,给出了广义预测控制的基本算法、Diophantine方程的递推求解算法及程序流程图,分析了控制器参数对系统性能的影响和广义预测控制的特点,为后面将其应用于气动位置伺服系统奠定了基础。在文献的基础上,通过对摆动气缸位置伺服系统的特点分析结合广义预测控制理论的特点,给出了基于摆动气缸的广义预测控制方法。建立系统的CARIMA模型,并对其进行仿真试验。对比了广义预测控制和PID控制的结果,结果显示广义预测控制用于摆动气缸位置伺服系统明显好于PID控制,广义预测控制用于该系统是可行的、有效的。更多还原

【Abstract】 With the development of industry automation technology,the pneum- atic technology is already applied to each automatic production fields because it have many advantages, such as low cost, the nothing contaminates , safety. As a primary research field, pneumatic servo technology, which is called the railway engine of pneumatic high-tech development and application, has been received more attention from people day by day. Only few of the pneumatic position servo systems succeeded in applying to the industrial production, most of them are for direct-acting air cylinder. So studying the servo system of pneumatic rotary actuator has certain theoretic and actual meaning. This paper has studied systematic characteristic and control strategy for the pneumatic rotary actuator position servo system with proportional flow valves as the control devices from theory and simulation, in order to obtain better performance.First of all, this paper has analyzed the systematic characteristic,described the characteristic of the proportional flow valve detailedly. Thus,the linear mathematics model has been established.The thesis has introduced the creation background and the present situation of generalized predictive control (GPC),given and the basic algorithm of GPC , Diophantine equation recursion finds the solution algorithm and procedure flow chart,analyzed its controller parameter to system performance influence,as well as the characteristic of GPC,establish a basis for its application to the pneumatic position servo system later. On the basic of literature, by analyzing the characteristic of the pneumatic rotary actuator position servo system and combining GPC’s advantages, this thesis presents the method of GPC in the pneumatic rotary actuator system. The thesis has builded the systematic Gating element CARIMA model, and Carried out the simulated experiment. Contrasting the result of GPC with PID’s, it shows that GPC are better than PID, GPC used for the system is feasible, effective.更多还原