基于气动比例控制的平面柔性平台的研究

发布时间：2018-01-13 03:18

本文关键词：基于气动比例控制的平面柔性平台的研究　出处：《东华大学》2011年硕士论文　论文类型：学位论文

【摘要】：气动系统由于其环保,成本低,结构简单,易于操作等优点,在工业自动化领域的得到了越来越广泛的应用。随着电-气比例／伺服控制技术的出现,使得气动系统的高精度控制成为了可能。但气动系统本身由于空气的可压缩性、气缸的摩擦力以及比例阀的非线性等特性,在很大程度上增加了气动比例控制系统的控制难度。本课题在对比例方向阀和单个单杆双作用气缸组成的气动比例系统进行特性分析的基础上,通过对控制策略的理论研究和仿真,实现平面内二自由度双缸的柔性控制。首先,通过对系统特性和工作原理的详细分析,建立阀控缸系统的非线性数学模型,并依据假设条件等,对其实行一定的简化。在此基础上,对气动比例控制系统进行控制策略研究。在本文中,最终确认使用增量式PID控制和模糊自适应PID控制。模糊PID控制应用模糊推理的方法,能够实现PID参数Kp、Ki和Kd取值的实时变化,使系统在动态过程中各阶段的PID参数均处于最佳状态,以获得满意的控制效果。其次,应用Matlab/Simulink的仿真功能对各种控制器进行仿真研究,并对仿真结果进行分析比较。仿真结果表明,相比传统的PID控制,模糊控制器很好地解决了阶跃响应的爬行振荡和方波响应的不稳定等问题,提高了正弦跟踪响应的精度,增强了系统的适应能力。同时,利用Labview和Matlab的混合编程,建立平面柔性控制的控制平台,并对系统进行实时控制。最后,对本论文的研究工作进行了总结,对于存在的一些缺点和不足提出了进一步研究工作的设想和展望。
[Abstract]:Pneumatic system is more and more widely used in the field of industrial automation because of its environmental protection, low cost, simple structure, easy to operate, etc. With the emergence of electro-pneumatic proportional / servo control technology. It is possible to control the pneumatic system with high precision. However, the pneumatic system itself is characterized by the compressibility of the air, the friction of the cylinder and the nonlinearity of the proportional valve. To a great extent, the control difficulty of pneumatic proportional control system is increased. On the basis of the characteristic analysis of proportional directional valve and single single-rod double-acting pneumatic proportional system, the control strategy is studied and simulated theoretically. The flexible control of two-degree of freedom two-cylinder in plane is realized. First of all, through the detailed analysis of the system characteristics and working principle, the nonlinear mathematical model of the valve controlled cylinder system is established, and according to the assumption conditions, it is simplified to some extent. The control strategy of pneumatic proportional control system is studied. In this paper, incremental PID control and fuzzy adaptive PID control are finally confirmed. Fuzzy PID control applies fuzzy reasoning method. It can realize the real time change of the PID parameters KpPU Ki and KD, and make the PID parameters of the system in the dynamic process in the best state, in order to obtain the satisfactory control effect. Secondly, we use the simulation function of Matlab/Simulink to simulate all kinds of controllers, and analyze and compare the simulation results. The simulation results show that compared with the traditional PID control. The fuzzy controller solves the problems such as creeping oscillation of step response and instability of square wave response, improves the accuracy of sinusoidal tracking response, and enhances the adaptability of the system. Using the mixed programming of Labview and Matlab, the control platform of planar flexible control is established, and the real-time control of the system is carried out. Finally, the research work of this paper is summarized, and some shortcomings and shortcomings are put forward.
【学位授予单位】：东华大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH138

【引证文献】