基于LabVIEW的气动力伺服系统模型辨识与实验

Model Identification of the Pneumatic Servo-system Based OnLabVIEW and Physical Verification

气动力伺服系统能够对输出力大小进行准确控制,可应用于机器人自动打磨抛光中,提高工件表面修形质量。目前该系统本身难以建立准确的数学模型,然而模型对力控算法设计与改进具有很大的帮助。首先分析了系统机理建模过程,然后对搭建的一套气动力伺服系统平台采用系统辨识的方法获取该系统的最佳数学模型:设计了基于Lab VIEW的系统实时在线辨识平台,采用最小递归二乘法作为辨识算法对搭建的平台系统进行了模型辨识,最后对该模型进行了实验验证,结果表明辨识所得模型能很好地表征该系统的特性,为气动力伺服系统的输出力控制算法设计研究奠定基础。

Pneumatic force servo system can accurately control the output force of the cylinder, which can be used in automatic polishing with robots to improve the quality of products＇ surface. However, the accurate mathematical model of the system is difficult to obtain, although the model is of great difference to the design and improve of the force control algorithm. The paper analyzed the process of mechanism modelling of the system firstly, then obtained the best mathematical model of the built pneumatic force servo system using system identification method： designed real-time online identification platform based on LabVIEW, used recursive least squares, RLS as identify algorithm to build the system＇ s model, finally took experiment to verify the accuracy of the model, and the results showed that the identification model can characterize the system characteristics well, which laid the foundation of the design of pneumatic force servo system control algorithms.