Active disturbance rejection control method for rodless cylinder position servo system

A technology of active disturbance rejection control and servo system, which is applied in the direction of adaptive control, controller with specific characteristics, electric controller, etc.

Active Publication Date: 2017-02-01
YANSHAN UNIV
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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 propose an improved active disturbance rejection control algorithm for the defects of the existing rodless cylinder servo system control technology, so as to realize high-precision position control of a rodless cylinder

Method used

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  • Active disturbance rejection control method for rodless cylinder position servo system
  • Active disturbance rejection control method for rodless cylinder position servo system
  • Active disturbance rejection control method for rodless cylinder position servo system

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Experimental program
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Effect test

Embodiment

[0094] The components of the rodless cylinder pneumatic servo system are: CY1H rodless cylinder produced by SMC company, MPYE proportional directional control valve produced by FESTO company, grating displacement sensor, Advantech industrial computer, analog output board, data acquisition board cards, air compressors, etc.

[0095] The control target is set to

[0096] Reference input signal: v 0 = 100mm step signal;

[0097] When a step signal v is given 0 =100mm, the system displacement output curve is as follows image 3 shown. where v 0 is the reference input signal, v 1 is the reference input signal v 0 tracking signal, z 1 Outputs the observed value of y for the system. It can be seen from the figure that the system output y can quickly and accurately track the upper reference input signal v 0 , and z 1 The system displacement output y can be well observed.

[0098] In a pneumatic servo system, the control input signal is a voltage signal. Figure 4 Shown is...

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Abstract

The invention discloses a rodless cylinder servo system position precision control method. The method comprises the following steps: 1, a mathematical model for a pneumatic position servo system is built; 2, based on the mathematical model built in the first step, a tracking differentiator is designed according to an active disturbance rejection control technology; 3, a linear extended state observer is designed, and real-time estimation and compensation are carried out on the total disturbance of the system; and 4, a linear state error feedback controller which is a general PID controller is designed, the total disturbance of the system is compensated in the controller, and thus, the original nonlinear pneumatic servo control system is converted to a linear integral series control system. The method of the invention does not rely on the precise mathematical model for the pneumatic servo system, no pressure detection device needs to be added, all uncertain factors and external interference during an experiment process can be overcome, quick and precise position control on the rodless cylinder is finally realized, and the control precision can reach 0.005 mm.

Description

Technical field: [0001] The invention belongs to the field of position control of a pneumatic servo system, and in particular relates to an active disturbance rejection control method of a rodless cylinder position servo system. Background technique: [0002] Pneumatic servo system has developed rapidly because of its simple structure, safety and reliability, high efficiency and energy saving, clean and pollution-free, and is widely used in various fields. However, there are some weaknesses in the pneumatic system itself, such as the compressibility of the air, the non-linearity of the valve port flow, and the friction of the cylinder piston, which lead to the obvious nonlinearity and low stiffness of the pneumatic system. Pneumatic servo system is a typical nonlinear system, its mathematical model is uncertain and highly nonlinear, which brings great difficulties to precise position control. Therefore, it is particularly important to design a control algorithm to deal with...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42G05B13/04
CPCG05B11/42G05B13/04
Inventor 杨洪玖孙佳慧赵苓于洋
Owner YANSHAN UNIV
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