气压位置控制系统研究现状及展望

DEVELOPMENTS AND PROSPECTS OF PNEUMATIC POSITIONING SYSTEM

回顾了气压位置控制系统的研究历史,总结了在基本特性研究、控制阀开发和控制策略研究方面的工作。研究工作表明:气体通过阀口和管道的流动复杂、缸内热力过程为指数变化的多变过程、摩擦力与系统运动速度、驱动压力和背压有关。在开发了相关控制阀后,进行了针对系统的各种特性的控制策略的研究,如针对非线性的非线性补偿措施、针对摩擦力的振颤补偿、针对模型误差的鲁棒设计和针对开关阀系统的同向PWM设计等,效果明显。研究工作使得气压位置控制系统已具有良好的性能,能满足工业生产的需要。

The researching history of pneumatic positioning system is overviewed, and the researching work on characteristics study, developing control valve and control strategy are summarized. The past work shows that the gas flow through a valve and tube is complex, the thermodynamic process in a cylinder chamber is a polytropic process with varying polytropic exponent and the friction force varies while the velocity of the cylinder and the pressures in the two chambers of the cylinder change. After the control valves are developed, the control strategies coped with different kinds of characteristics of the system are promoted, such as nonlinearity compensation strategy, dithering compensation, robust control and same pace PWM. After about 20 years researching, the pneumatic positioning systems now have performances good enough to meet the requests of the manufacturing system.