Pressure control method of pneumatic gravity compensation system and pneumatic gravity compensation system
A technology of gravity compensation and pressure control, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve problems such as high-precision pressure control that have not been seen
Inactive Publication Date: 2018-11-27
BEIJING INSTITUTE OF PETROCHEMICAL TECHNOLOGY
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However, there is no precedent for high-precision pressure control using active disturbance rejection technology
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[0059] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.
[0060] figure 1 It is a flow chart of a pressure control method of an aerodynamic gravity compensation system according to an exemplary embodiment, and the method includes the following steps:
[0061] Step 101: constructing a closed-loop control loop by using an active disturbance rejection controller;
[0062] Step 102: designing the tracking differentiator, extended state observer a...
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The invention relates to a pressure control method of a pneumatic gravity compensation system and the pneumatic gravity compensation system. The method comprises steps of using an active disturbance rejection controller to construct a closed-loop control loop; designing a tracking differentiator, an expansion state observer and nonlinear feedback in the active disturbance rejection controller; measuring pressure differentials in the system, wherein the expansion state observer carries out estimation on the total disturbance of the system according to the pressure differentials; according to the total disturbance, compensating the initial control quantity and inputting the actual control quantity obtained after the compensation into a controlled gravity compensation system. According to theinvention, by providing a high precision pressure control algorithm based on the active disturbance rejection technology, double disturbance of the environment and models is inhibited; high-precisiondynamic gravity compensation is achieved; and the method and the system are quite robust to pressure change of an air source and sudden change of the load.
Description
technical field [0001] The present application relates to the technical field of high-precision pressure control, in particular to a pressure control method of a pneumatic gravity compensation system and the pneumatic gravity compensation system. Background technique [0002] In order to ensure the reliable operation of aerospace systems (aircraft, space stations, satellites, etc.), it is essential to perform dynamic tests on the subsystems of the space structure on the ground before they fly in orbit. The gravity compensation system can realize the simulation of the space environment and provide conditions for the above-mentioned dynamic tests; its essence is that it must support the weight of the test object without exerting any restraint. It can be seen that the gravity compensation system plays a very critical role in simulating the zero-gravity environment of space. Therefore, with the development of aerospace technology, the gravity compensation system is more and mor...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘昱赵国新刘昌龙彭锋
Owner BEIJING INSTITUTE OF PETROCHEMICAL TECHNOLOGY