Backstepping control method of pneumatic position servo system

A servo system, pneumatic position technology, applied in the direction of fluid pressure actuation system components, fluid pressure actuation devices, mechanical equipment, etc., can solve the problem of insufficient tracking control accuracy

Active Publication Date: 2013-08-07
西安比特联创科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a backstepping control method for a pneumatic position servo system, whi

Method used

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  • Backstepping control method of pneumatic position servo system
  • Backstepping control method of pneumatic position servo system
  • Backstepping control method of pneumatic position servo system

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Experimental program
Comparison scheme
Effect test

Embodiment

[0060] Each component in the structure of the pneumatic position servo system is selected separately: the rodless cylinder of FESTO company (the model used is DGPL-25-450-PPV-A-B-KF-GK-SV); the five-way proportional valve (the model used is MPYE -5-1 / 8-HF-010-B); sliding resistance linear displacement detector (the model used is MLO-POT-450-TLF, and the position detection accuracy is 0.15mm after matching with the acquisition card); computer (the model used is The model is CPU (P21.2GHz); general data acquisition card (the model used is PCI2306); air pump and other components constitute the pneumatic position servo system. The built-in control software of the computer is compiled by VB, and the change curve of related variables in the control process is displayed on the screen.

[0061] The control targets are set to

[0062] Reference signal 1: S-curve

[0063] the y d =-(A / ω 2 )sin(ωt)+(A / ω)t, (7)

[0064] The value of A is 55.825, and the value of w is 0.5π.

[0065] ...

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Abstract

The invention discloses a backstepping control method of a pneumatic position servo system, which is specifically implemented according to the following steps: step 1, establishing a model of a controlled pneumatic position servo system, obtaining each variable parameter through real-time detection by respective detecting instrument, ignoring the friction force, and obtaining a third-order linear model of the pneumatic system, wherein the control target is to enable model output to track required desired output; step 2, establishing a backstepping controller model of the pneumatic position servo system; step 3, estimating unknown parameter values of the pneumatic position servo system, inputting the number values obtained through estimation into a computer so as to update parameters of the backstepping controller model in real time, controlling the signal output of an amplifier by the computer to regulate the displacement of a piston in real time. The backstepping control method of the pneumatic position servo system can obtain better tracking effect and higher control precision without adding pressure detection hardware or algorithm.

Description

technical field [0001] The invention belongs to the technical field of high-precision position tracking control of a pneumatic system, and relates to a backstep control method of a pneumatic position servo system. Background technique [0002] The pneumatic system uses compressed air as the working medium, fireproof, explosion-proof, anti-electromagnetic interference, not affected by radiation and noise, and not sensitive to vibration and impact, and has the advantages of long life, safety, cleanliness, high power-to-weight ratio, etc. , Pneumatic technology has been widely used in various fields. [0003] However, due to the compressibility of the gas, the complex flow characteristics of the gas through the valve port, and the relatively large friction between the cylinder and the slider, these factors make the high-precision tracking control of the pneumatic position servo system very difficult. Contents of the invention [0004] The object of the present invention is t...

Claims

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Application Information

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IPC IPC(8): F15B21/02
Inventor 任海鹏黄超
Owner 西安比特联创科技有限公司
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