气动重力补偿系统的压力控制

doi:10.3901/JME.2018.16.212

机械工程学报 ›› 2018, Vol. 54 ›› Issue (16): 212-219.doi: 10.3901/JME.2018.16.212

气动重力补偿系统的压力控制

刘昱¹, 王涛², 赵国新¹, 王安¹, 邓瑶¹, 李国强¹

1. 北京石油化工学院自动化系北京 102617;
2. 北京理工大学自动化学院北京 100081

收稿日期:2017-08-22 修回日期:2018-04-20 出版日期:2018-08-20 发布日期:2018-08-20
通讯作者: 赵国新(通信作者),男,1963年出生,硕士,教授,硕士研究生导师。主要研究方向为智能控制。E-mail:zhaoguoxin@bipt.edu.cn
作者简介:刘昱,男,1983年出生,博士。副教授,硕士研究生导师。主要研究方向为流体传动与控制。E-mail:liuyubipt@bipt.edu.cn;王涛,男,1971年出生,博士,副研究员,硕士研究生导师。主要研究方向为流体传动与控制、气体泄漏检测。E-mail:wangtaobitx@bit.edu.cn
基金资助:
国家自然科学基金（51405023）和北京市属高校高水平教师队伍建设支持计划青年拔尖人才培育计划（CIT&TCD201804033）资助项目。

Pressure Control of Pneumatic Gravity Compensation System

LIU Yu¹, WANG Tao², ZHAO Guoxin¹, WANG An¹, DENG Yao¹, LI Guoqiang¹

1. Department of Automation, Beijing Institute of Petrochemical Technology, Beijing 102617;
2. School of Automation, Beijing Institute of Technology, Beijing 100081

Received:2017-08-22 Revised:2018-04-20 Online:2018-08-20 Published:2018-08-20

摘要/Abstract

摘要： 伴随着航天科技的发展，重力补偿系统在模拟太空的零重力环境中起到了非常关键的作用。基于静压气浮无摩擦气缸构建气动重力补偿系统，其为典型的非线性系统，难以对其建立精确数学模型，对其实现高精度压力控制尤为困难。针对基于比例流量阀及气浮无摩擦气缸的气动重力补偿系统建立二阶数学模型，建模过程为控制算法提供一个大致精确的参考模型；利用等温容器及层流狭缝管路，研制压力微分传感器，有效抑制噪声并提取压力微分信号；提出基于自抗扰技术的高精度压力控制算法，抑制环境及模型双重扰动，实现高精度动态重力补偿。试验结果表明，自抗扰控制器对气源压力变化、负载突变具有较强的鲁棒性，稳态控制精度约为67 Pa，动态（0.1 Hz）跟踪误差小于1 000 Pa。

关键词: 等温容器, 气动重力补偿系统, 压力控制, 自抗扰

Abstract: With the development of aerospace science and technology, the gravity compensation device takes a very critical role in simulation of zero gravity environment. A pneumatic gravity compensation system based on the aerostatic frictionless cylinder is constituted. Pneumatic gravity compensation system is a typical nonlinear system. It is particularly difficult to establish accurate mathematical model and achieve high precision pressure control. The second order mathematical model for pneumatic gravity compensation system on the basis of proportional flow valve and frictionless cylinder is established. A fairly reference accurate model is provided for control algorithm during the in the course of modeling. Pressure differential sensor which can extract pressure differential effectively and restrain noise is designed by isothermal chamber and laminar line. Based on active disturbance rejection control technique high-precision pressure control algorithm is proposed to suppress the disturbance and high-precision dynamic gravity compensation of is realized. Experimental results show that the controller has good robustness against the influences of payload, air supply pressure, the steady-error is less than 67 Pa and the dynamic-error(0.1 Hz) is less than 1000Pa.

Key words: active disturbance rejection, isothermal chamber, pneumatic gravity compensation system, pressure control

中图分类号:

TH138

刘昱, 王涛, 赵国新, 王安, 邓瑶, 李国强. 气动重力补偿系统的压力控制[J]. 机械工程学报, 2018, 54(16): 212-219.

LIU Yu, WANG Tao, ZHAO Guoxin, WANG An, DENG Yao, LI Guoqiang. Pressure Control of Pneumatic Gravity Compensation System[J]. Journal of Mechanical Engineering, 2018, 54(16): 212-219.

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气动重力补偿系统的压力控制

Pressure Control of Pneumatic Gravity Compensation System

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