基于模糊自整定PI与重复控制的气动伺服系统研究

The Research of Pneumatic Servo System with Adaptive Fuzzy-PI and Repetitive Control

针对气动位置伺服控制中的低精度、低刚度等问题,提出了一种重复补偿与模糊自整定PI相结合的复合控制方案。利用模糊控制器提高系统的动态性能和鲁棒性,通过重复控制器周期性地修正输出电压,以改善系统的稳态特性,实现优势互补,使系统获得良好的稳、动态性能。通过仿真试验表明,该控制算法容易实现,且能更好地提高气动伺服定位系统的跟踪精度,具有较强的实用性。

A compound control scheme is proposed composed by repetitive compensation and adaptive fuzzy-PI, in order to resolve the low-accuracy, low stiffness and other issues of the pneumatic position servo control system. The fuzzy controller is used to improve the dynamic performance and robustness, and the repeating controller is used to periodically revise the output voltage to improve the system＇s steady-state characteristics. Therefore, the complementary advantages allow the system to obtain good stability and dynamic performance. Simulation results show that the control algorithm implements easily and better improves the tracking accuracy of the pneumatic servo positioning system, with a strong practical.