无模型控制器的无摩擦气缸控制仿真

Simulation of Model-Free Adaptive Control for Frictionless Cylinder

无摩擦气缸伺服系统作为一种特殊的气动系统,具有成本低、节能,清洁等优点,运用较为广泛。其驱动负载的输出力由气体压力而产生,由于气体的可压缩性,要得到精确的数学模型十分困难,而且气动系统易受周围环境因素的影响,当采用传统PID控制时,很难使系统长时间保持良好的控制效果。针对比例流量阀驱动无摩擦气缸的气动伺服系统,对其进行建模分析,并将无模型控制算法引入到伺服系统的控制器设计中,利用仿真软件构建控制系统并进行仿真,仿真结果表明,相比于常规的肿控制器,无模型控制具有更优的控制性能,在保证系统稳定性的前提下提高了输出响应速度。

As a special pneumatic servo, the servo-system based on frictionless cylinder has many advantages and its application is expanding. Its output force is generated by the pressure. Because of the compressibility, it is very difficult to acquire the precise mathematical model of pneumatic servo. Especially, satisfactory control effect is hard to maintain by conventional PID when the pneumatic servo is affected by the external conditions. Based on the pneu- matic servo which contains the flow proportional valve and frictionless cylinder, the mathematical model is analyzed and model free adaptive control is introduced. Simulation results show that, on the premise of ensuring the stability, the control accuracy and the adjusting speed are enhanced.