本文關(guān)鍵詞：基于氣動比例控制的平面柔性平臺的研究　出處：《東華大學》2011年碩士論文　論文類型：學位論文

  更多相關(guān)文章： 氣動比例位置系統(tǒng) 數(shù)學模型 平面柔性控制 增量式PID控制 模糊控制

【摘要】：氣動系統(tǒng)由于其環(huán)保,成本低,結(jié)構(gòu)簡單,易于操作等優(yōu)點,在工業(yè)自動化領(lǐng)域的得到了越來越廣泛的應(yīng)用。隨著電-氣比例／伺服控制技術(shù)的出現(xiàn),使得氣動系統(tǒng)的高精度控制成為了可能。但氣動系統(tǒng)本身由于空氣的可壓縮性、氣缸的摩擦力以及比例閥的非線性等特性,在很大程度上增加了氣動比例控制系統(tǒng)的控制難度。 本課題在對比例方向閥和單個單桿雙作用氣缸組成的氣動比例系統(tǒng)進行特性分析的基礎(chǔ)上,通過對控制策略的理論研究和仿真,實現(xiàn)平面內(nèi)二自由度雙缸的柔性控制。 首先,通過對系統(tǒng)特性和工作原理的詳細分析,建立閥控缸系統(tǒng)的非線性數(shù)學模型,并依據(jù)假設(shè)條件等,對其實行一定的簡化。在此基礎(chǔ)上,對氣動比例控制系統(tǒng)進行控制策略研究。在本文中,最終確認使用增量式PID控制和模糊自適應(yīng)PID控制。模糊PID控制應(yīng)用模糊推理的方法,能夠?qū)崿F(xiàn)PID參數(shù)Kp、Ki和Kd取值的實時變化,使系統(tǒng)在動態(tài)過程中各階段的PID參數(shù)均處于最佳狀態(tài),以獲得滿意的控制效果。 其次,應(yīng)用Matlab/Simulink的仿真功能對各種控制器進行仿真研究,并對仿真結(jié)果進行分析比較。仿真結(jié)果表明,相比傳統(tǒng)的PID控制,模糊控制器很好地解決了階躍響應(yīng)的爬行振蕩和方波響應(yīng)的不穩(wěn)定等問題,提高了正弦跟蹤響應(yīng)的精度,增強了系統(tǒng)的適應(yīng)能力。同時,利用Labview和Matlab的混合編程,建立平面柔性控制的控制平臺,并對系統(tǒng)進行實時控制。 最后,對本論文的研究工作進行了總結(jié),對于存在的一些缺點和不足提出了進一步研究工作的設(shè)想和展望。
[Abstract]:Pneumatic system is more and more widely used in the field of industrial automation because of its environmental protection, low cost, simple structure, easy to operate, etc. With the emergence of electro-pneumatic proportional / servo control technology. It is possible to control the pneumatic system with high precision. However, the pneumatic system itself is characterized by the compressibility of the air, the friction of the cylinder and the nonlinearity of the proportional valve. To a great extent, the control difficulty of pneumatic proportional control system is increased. On the basis of the characteristic analysis of proportional directional valve and single single-rod double-acting pneumatic proportional system, the control strategy is studied and simulated theoretically. The flexible control of two-degree of freedom two-cylinder in plane is realized. First of all, through the detailed analysis of the system characteristics and working principle, the nonlinear mathematical model of the valve controlled cylinder system is established, and according to the assumption conditions, it is simplified to some extent. The control strategy of pneumatic proportional control system is studied. In this paper, incremental PID control and fuzzy adaptive PID control are finally confirmed. Fuzzy PID control applies fuzzy reasoning method. It can realize the real time change of the PID parameters KpPU Ki and KD, and make the PID parameters of the system in the dynamic process in the best state, in order to obtain the satisfactory control effect. Secondly, we use the simulation function of Matlab/Simulink to simulate all kinds of controllers, and analyze and compare the simulation results. The simulation results show that compared with the traditional PID control. The fuzzy controller solves the problems such as creeping oscillation of step response and instability of square wave response, improves the accuracy of sinusoidal tracking response, and enhances the adaptability of the system. Using the mixed programming of Labview and Matlab, the control platform of planar flexible control is established, and the real-time control of the system is carried out. Finally, the research work of this paper is summarized, and some shortcomings and shortcomings are put forward.
【學位授予單位】：東華大學
【學位級別】：碩士
【學位授予年份】：2011
【分類號】：TH138

【引證文獻】

相關(guān)碩士學位論文 前1條

1 吳彥強;小型氣動系統(tǒng)的網(wǎng)絡(luò)化控制與管理[D];北方工業(yè)大學;2013年

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本文編號：1417236