基于反馈线性化的内外双环型双缸气动位置同步控制

The Inner-outer Loop Feedback Pneumatic Position Synchro Control

气动同步控制是同步控制研究领域的关键问题,本文详细分析了双缸气动位置同步系统的基本控制特性,并建立双缸系统数学模型。提出了基于压力反馈线性化、摩擦力补偿的双环同步跟踪控制器,并将其应用于双缸位置同步控制。实验结果表明,该控制方法基于系统的特性,设计简洁,实用,控制效果良好。

It is the key questions that electro-pneumatic synchro system control is difficult to obtain the satisfactory control performance in the synchro system area. Based on the study of the fundamental characteristics of the electro-pneumatic synchro position system with double cylinders, the inner-outer loop feedback synchro controller was designed combining with input-output linearization and friction compensation. To verify the strategies, the experiments in the synchro system were performed. The experimental results show that the new designed controller is effective in both precision and robustness.