自抗扰控制器的无摩擦气缸控制研究

Research on Active Disturbance Rejection Control for Frictionless Cylinder

气动伺服系统是典型的非线性系统,因气体的可压缩性及阀口流量的非线性等因素,传统的控制策略(如PID)的控制性能很难达到系统要求,对其实现高精度的压力控制尤为困难.针对比例流量阀及无摩擦气缸的气动伺服系统建立二阶数学模型,建模过程为控制算法提供一个大致精确的参考模型.之后,将自抗扰控制算法引入到伺服系统控制器设计中,并基于Labwindows CVI开发平台对该系统实现高精度压力控制.实验结果表明,相比较于传统PID控制器,自抗扰控制器具有控制精度高,响应速度快,抗干扰能力强等优点.

The pneumatic servo system is a typical nonlinear system.Due to the compressibility of compressed air,the nonlinearity of the mass flow rate and so on.It is difficult to meet the requirements of the system by using the conventional control strategy,such as PID.And it is particularly difficult to achieve high precision pressure control of pneumatic servo system.The second order mathematical model of pneumatic servo system on the basis of proportional flow valve and frictionless cylinder is analyzed and deduced,a fairly reference accurate model is provided for control algorithm during in the course of modeling.Then,based on Labwindows CVI,active disturbance rejection control is introduced in the pneumatic servo system and the high precision pressure control of this system is accomplished.Experimental results shows that compared with the traditional PID controller,the active disturbance rejection controller has higher control precision,faster response speed and better anti-interference ability.