气动位置伺服系统运动轨迹跟踪控制

Motion Trajectory Tracking Control of Pneumatic Position Servo Systems

为实现气缸的高精度运动轨迹跟踪控制,针对具有控制阀死区的气动位置伺服系统,提出了一种含死区补偿的自适应鲁棒控制策略。控制器由在线最小二乘参数估计和基于反步法设计的非线性鲁棒控制器组成,前者用于减小模型中参数不确定性,后者用于抑制参数估计误差、未建模动态和干扰的影响。采用基于标准投影映射的参数自适应律,控制器的两个部分可以独立进行设计。此外,由于控制阀的死区得到了有效补偿,算法的可移植性好。实验表明,所设计的控制器能实现很高的轨迹跟踪控制精度,对系统参数变化和干扰具有较强的性能鲁棒性。

An adaptive robust control scheme with valve dead-zone compensation was proposed for pneumatic position servo systems. The controller employed the on-line recursive least squares estimation to reduce parametric uncertainties, and utilized a robust control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbance. Thus, a good transient with precision motion trajectory tracking of pneumatic cylinders was guaranteed. The standard projection type adaption law was adopted to achieve a complete separation of the estimator design and the robust control law design. Since the system model uncertainties were unmatched, the recursive backstepping technology was applied to design the robust controller. Extensive comparative experimental results were presented to illustrate the effectiveness of the proposed controller and its performance robustness to parameter variations and sudden disturbance.