气动伺服加载系统的非线性复合控制

doi:10.3901/JME.2017.14.217

机械工程学报 ›› 2017, Vol. 53 ›› Issue (14): 217-224.doi: 10.3901/JME.2017.14.217

• 交叉与前沿 • 上一篇

气动伺服加载系统的非线性复合控制

魏琼¹, 焦宗夏², 吴帅², 王君¹, 汤亮¹

1. 湖北工业大学机械工程学院武汉 430068;
2. 北京航空航天大学自动化科学与电气工程学院北京 100086

收稿日期:2016-12-13 修回日期:2017-04-19 出版日期:2017-07-20 发布日期:2017-07-20
通讯作者: 焦宗夏(通信作者),男,1963年出生,博士,教授,博士研究生导师。主要研究方向为机电一体化设计、仿真与伺服控制。E-mail:zxjiao@buaa.edu.cn
作者简介:魏琼,女,1980年出生,博士研究生。主要研究方向为机电一体化系统及伺服控制。E-mail:joanwei@yeah.net

Nonlinear Compound Control of Pneumatic Servo Loading System

WEI Qiong¹, JIAO Zongxia², WU Shuai², WANG Jun¹, TANG Liang¹

1. School of mechanical Engineering, Hubei University of Technology, Wuhan 430068;
2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100086

Received:2016-12-13 Revised:2017-04-19 Online:2017-07-20 Published:2017-07-20

摘要/Abstract

摘要： 气动伺服系统以其具有可压缩性、易实现高速等特点而适用于一种瞬时展开机构的伺服加载测试需求。通过分析气动伺服系统中存在的强非线性及动态不确定性，提出非线性复合控制策略。针对不同的特征，设计不同的控制方法。通过反馈线性化进行变化，将输出控制量分成两个部分-线性部分和非线性部分，采用极点配置原理进行线性控制分量的设计，确保系统的稳定性，借助Maltab LMI工具箱求解线性矩阵不等式；针对系统存在动态不确定性时缺乏鲁棒性，采用Lyapunov再设计方法进行非线性控制分量的设计，确保系统的鲁棒性，采用ITAE优化算法进行求解，确保系统的跟踪精度及快速性。通过理论分析，数字仿真及试验对比验证相结合的方法，展开气动力矩伺服加载控制研究，所设计复合控制方法有效改善了非线性和动态不确定性对系统性能产生的不良影响，提高了系统的动态性能和控制品质。

关键词: 动态不确定性, 非线性, 李雅普诺夫再设计, 鲁棒性, 气动伺服加载系统, 误差绝对值积分

Abstract: The pneumatic servo system is suitable for servo loading test of a momentary expansion mechanism with its compressibility and easy realization of high speed. By analyzing the strong nonlinear and dynamic uncertainties in the pneumatic servo system, a nonlinear composite control strategy is proposed. Different control methods are designed for different features. Through the linearization of feedback, the output control is divided into two parts-the linear part and the nonlinear part. The linear control component is designed by the pole placement principle to ensure the stability of the system. The linear matrix inequality is solved by Maltab LMI toolbox. Based on the lack of robustness of the system, the Lyapunov re-design method is used to design the nonlinear control components to ensure the robustness of the system. The ITAE optimization algorithm is used to solve the system to ensure the tracking accuracy and fastness. The composite control method is used to improve the adverse effects of nonlinear and dynamic uncertainties on the performance of the system, and the effect of the system is improved by the combination of theoretical analysis, digital simulation and experimental comparison. Dynamic performance and control quality.

Key words: dynamic uncertainties, ITAE, Lyapunov redesign, nonlinear, pneumatic servo loading system, robust

中图分类号:

TG156

魏琼, 焦宗夏, 吴帅, 王君, 汤亮. 气动伺服加载系统的非线性复合控制[J]. 机械工程学报, 2017, 53(14): 217-224.

WEI Qiong, JIAO Zongxia, WU Shuai, WANG Jun, TANG Liang. Nonlinear Compound Control of Pneumatic Servo Loading System[J]. Journal of Mechanical Engineering, 2017, 53(14): 217-224.

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气动伺服加载系统的非线性复合控制

Nonlinear Compound Control of Pneumatic Servo Loading System

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