【摘要】：氣動伺服系統(tǒng)以其具有可壓縮性、易實(shí)現(xiàn)高速等特點(diǎn)而適用于一種瞬時展開機(jī)構(gòu)的伺服加載測試需求。通過分析氣動伺服系統(tǒng)中存在的強(qiáng)非線性及動態(tài)不確定性,提出非線性復(fù)合控制策略。針對不同的特征,設(shè)計(jì)不同的控制方法。通過反饋線性化進(jìn)行變化,將輸出控制量分成兩個部分-線性部分和非線性部分,采用極點(diǎn)配置原理進(jìn)行線性控制分量的設(shè)計(jì),確保系統(tǒng)的穩(wěn)定性,借助Maltab LMI工具箱求解線性矩陣不等式;針對系統(tǒng)存在動態(tài)不確定性時缺乏魯棒性,采用Lyapunov再設(shè)計(jì)方法進(jìn)行非線性控制分量的設(shè)計(jì),確保系統(tǒng)的魯棒性,采用ITAE優(yōu)化算法進(jìn)行求解,確保系統(tǒng)的跟蹤精度及快速性。通過理論分析,數(shù)字仿真及試驗(yàn)對比驗(yàn)證相結(jié)合的方法,展開氣動力矩伺服加載控制研究,所設(shè)計(jì)復(fù)合控制方法有效改善了非線性和動態(tài)不確定性對系統(tǒng)性能產(chǎn)生的不良影響,提高了系統(tǒng)的動態(tài)性能和控制品質(zhì)。
[Abstract]:The pneumatic servo system is suitable for the servo loading test of an instantaneous development mechanism because of its compressibility and high speed. By analyzing the strong nonlinearity and dynamic uncertainty in pneumatic servo system, a nonlinear compound control strategy is proposed. According to different characteristics, different control methods are designed. Through feedback linearization, the output control is divided into two parts: linear part and nonlinear part. The linear control component is designed by pole assignment principle to ensure the stability of the system. The linear matrix inequalities (LMIs) are solved by Maltab LMI toolbox. In view of the lack of robustness in the system with dynamic uncertainty, the nonlinear control component is designed by using Lyapunov re-design method to ensure the robustness of the system, and the ITAE optimization algorithm is used to solve the problem to ensure the tracking accuracy and rapidity of the system. Through theoretical analysis, digital simulation and experimental comparison and verification, the research of pneumatic torque servo loading control is carried out. The designed compound control method can effectively improve the negative effects of nonlinear and dynamic uncertainty on the system performance. The dynamic performance and control quality of the system are improved.
【作者單位】： 湖北工業(yè)大學(xué)機(jī)械工程學(xué)院;北京航空航天大學(xué)自動化科學(xué)與電氣工程學(xué)院;
【分類號】：TH138

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