气动伺服加载系统的非线性复合控制
发布时间：2018-11-11 20:31
【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。
[Abstract]:The pneumatic servo system is suitable for the servo loading test of an instantaneous development mechanism because of its compressibility and high speed. By analyzing the strong nonlinearity and dynamic uncertainty in pneumatic servo system, a nonlinear compound control strategy is proposed. According to different characteristics, different control methods are designed. Through feedback linearization, the output control is divided into two parts: linear part and nonlinear part. The linear control component is designed by pole assignment principle to ensure the stability of the system. The linear matrix inequalities (LMIs) are solved by Maltab LMI toolbox. In view of the lack of robustness in the system with dynamic uncertainty, the nonlinear control component is designed by using Lyapunov re-design method to ensure the robustness of the system, and the ITAE optimization algorithm is used to solve the problem to ensure the tracking accuracy and rapidity of the system. Through theoretical analysis, digital simulation and experimental comparison and verification, the research of pneumatic torque servo loading control is carried out. The designed compound control method can effectively improve the negative effects of nonlinear and dynamic uncertainty on the system performance. The dynamic performance and control quality of the system are improved.
【作者单位】： 湖北工业大学机械工程学院;北京航空航天大学自动化科学与电气工程学院;
【分类号】：TH138
[Abstract]:The pneumatic servo system is suitable for the servo loading test of an instantaneous development mechanism because of its compressibility and high speed. By analyzing the strong nonlinearity and dynamic uncertainty in pneumatic servo system, a nonlinear compound control strategy is proposed. According to different characteristics, different control methods are designed. Through feedback linearization, the output control is divided into two parts: linear part and nonlinear part. The linear control component is designed by pole assignment principle to ensure the stability of the system. The linear matrix inequalities (LMIs) are solved by Maltab LMI toolbox. In view of the lack of robustness in the system with dynamic uncertainty, the nonlinear control component is designed by using Lyapunov re-design method to ensure the robustness of the system, and the ITAE optimization algorithm is used to solve the problem to ensure the tracking accuracy and rapidity of the system. Through theoretical analysis, digital simulation and experimental comparison and verification, the research of pneumatic torque servo loading control is carried out. The designed compound control method can effectively improve the negative effects of nonlinear and dynamic uncertainty on the system performance. The dynamic performance and control quality of the system are improved.
【作者单位】： 湖北工业大学机械工程学院;北京航空航天大学自动化科学与电气工程学院;
【分类号】：TH138
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