基于滑膜控制的气压驱动系统鲁棒性研究（英文）

Research on the robustness of pneumatic drive system based on the sliding mode control

在单缸膜片式气压驱动系统中,由于气压的可压缩性以及易受外界各种干扰因素的影响,使其成为时变的高度非线性系统,导致系统的动力学行为不够准确,而常规的PID控制器无法克服这些因素带来的影响。为寻求一种较为有效的控制策略,用正交函数为基底的函数近似法来代替系统动态模型中的未知函数,并设计了一种适应性滑动模态控制器来针对气压驱动系统进行轨迹控制。研究中利用Lyapunov稳定法则来确保控制系统在受控过程中的稳定性,并由此获得系统控制参数的更新律。结果表明:使用以函数近似法为基础的适应性滑动模态控制器,在单缸膜片式气压驱动系统中具有较好的控制效果,对外部的扰动和参数不确定性具有较强的鲁棒性,能适应较大的负载变化,在变结构控制中具有较大的优越性。

In the diaphragm type pneumatic drive system,the pressure compressibility and effects of various external factors,making it a variable highly nonlinear system,which lead in the dynamic behavior of system is not accurate enough,and the conventional PID controller cannot overcome these factors.In order to seek a more effective control strategy,using orthogonal function as a function of substrate approximation method instead of the system dynamic model of unknown function,and design an adaptive sliding mode controller for pneumatic driving system for trajectory control.In the study,we also use the Lyapunov stability law to ensure the stability of the controlled process,and get the update law of the system control parameters.The experimental results show that：using function approximation method based adaptive sliding mode controller,in single cylinder diaphragm type pneumatic drive system had a better control effect,had the strong robustness to external disturbance and parameter uncertainty and had the superiority in variable structure control.