Cylinder output force servo control system based on on-off valve volume flow fitting module

Abstract

The invention provides a cylinder output force servo control system based on a switch valve volume flow fitting module and a control method thereof. The cylinder output force servo control system based on the switch valve volume flow fitting module structurally comprises a controller, four high-speed switch valves, a double-outlet-rod double-acting cylinder with a spring, a force sensor and a pressure sensor, wherein the four high-speed switch valves are respectively connected with air holes of a left cavity and a right cavity of the double-outlet-rod double-acting cylinder with the spring through air pipes; the force sensor is arranged at the top end of an output rod with a spring on one side of the cylinder, and two detection terminals of the pressure sensor are respectively connected with the air holes of the left cavity and the right cavity of the cylinder; and the four high-speed switch valves, the force sensor and the pressure sensor are respectively connected with the controllerthrough cables. The cylinder output force servo control system based on the switch valve volume flow fitting module has the advantages that the problem that a switch valve model is neglected in the traditional model design is solved when the traditional mathematical model is replaced by the switch valve volume flow model fitted by real data; and the influence of the minimum opening pulse of the switch valve is reduced to the maximum extent, and the response precision and speed of the cylinder output force servo control are improved.

Description

technical field [0001] The invention relates to a cylinder output force servo control system based on a switching valve volume flow fitting module and a control method thereof, belonging to the technical field of pneumatic servo control. Background technique [0002] In the automation and mechanization of modern production processes, pneumatic transmission and control is one of the most effective means of mechanical automation control by using compressed air as the working medium for energy conversion. Modern pneumatic control technology has been widely used in robotics, medical equipment and food processing industries due to its characteristics of energy saving, pollution-free, high efficiency, low cost and safety. Modern pneumatic control technology pays more attention to the combination with electronic technology. A large number of sensors are usually used in the control system to make the pneumatic components more intelligent; the new valve components usually have device...

AI Technical Summary

Problems solved by technology

[0003] At present, in the field of servo control technology, domestic and foreign technicians have carried out a number of researches on various linear and nonlinear control methods: Among the existing linear control methods, the most extensive research in the existing technology is the proportional-integral-derivative control method, That is, PID control. Since this method is a control method for linear control systems, it has poor applicability to strongly nonlinear systems, and it is difficult to obtain good control effects by simply using PID controllers; in the existing nonlinear control methods, the current Existing technologies usually adopt sliding mode variable structure control, fuzzy control and model predictive control methods to improve and optimize the pneumatic servo control system, such as "Mp S D S , Ferreira J A . Novel intelligent real-timeposition tracking system using FPGA and fuzzy logic.[ J]. Isa Transactions,2014, 53(2):402-414." and "Hodgson S , Le M Q , Tavakoli M , et al. Improved tracking and switching performance of an electro-pneumatic positioning system[J]. Mechatronics, 2012 , 22(1):1-12." Using fuzzy controller and sliding mode controller respectively, the final control effect has been greatly improved compared with the traditional method, and both have achieved better control and tracking effects

[0004] However, most of the pneumatic servo research in the prior art is carried out based on mathematical models, and relies on mathematical models for controller design and simulation verification, thus often ignoring the influence of the minimum opening pulse width limit of the switching valve on the model, and the simulation results are generally the same as the real results The gap is large, and the adjustment of the controller parameter design is relatively cumbersome, and the actual control effect is poor; at the same time, the research process of the existing technology usually ignores the nonlinear model of the switching valve itself, and the opening and closing of the dead zone has a great impact on the entire pneumatic servo control. The influence of the system makes it very difficult to apply the control method obtained from the theoretical model research to the general control system in the actual production process, which leads to the deterioration of the control effect and is not universal

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