非对称液压缸对称性控制

张晓宁; 王岩; 付永领

非对称液压缸对称性控制

北京航空航天大学自动化科学与电气工程学院, 北京 100083

详细信息

作者简介:
张晓宁(1978-),男,河北唐山人,博士生,wybuaa@asee.buaa.edu.cn.

中图分类号: TP 273
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- 文章访问数: 3607
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- 被引次数: 0
出版历程
- 收稿日期: 2006-11-28
- 网络出版日期: 2007-11-30

Symmetric control of asymmetric cylinder

School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

摘要: 阀控非对称缸两个运动方向上系统的开环增益及某些参数的不同,使得两个方向上的动态特性不对称,这种本质上的非线性和非对称性给系统控制带来困难.PБ-211机器人后3个关节是对称阀控制非对称液压缸伺服系统,为了使机器人运行平稳和提高控制精度,在控制中必须加以适当补偿.在分析非对称液压缸工作原理基础上,考虑液压缸伸出和缩回性能不同,提出了模型参考变增益自适应控制算法对非对称液压缸进行补偿.该算法包括单神经元自适应PID控制、模型参考自适应控制和输出增益的自动调节3个部分.仿真分析和实验表明该算法可以基本实现非对称液压缸的对称性控制,较普通PID控制算法具有明显优势.
- 非对称液压缸 /
- 模型参考 /
- 模糊控制 /
- 单神经元
Abstract: The open loop gain and some parameters are different on the two moving directions of symmetric valve controlling asymmetric cylinder system. This difference leads to dynamic performance asymmetry on the two moving directions. The natural nonlinear and asymmetric system is difficult to control. The last three joints of PБ-211 robot are controlled by symmetric valve controlling asymmetric cylinder system. To make the robot moving smoothly and improve the control precision, the control system must have proper compensation. After analyzing the asymmetric cylinder and taking the difference of protrusion and retraction into account, a new control algorithm, model reference self-tuning gain adaptive algorithm, was put forward. The new algorithm includes adaptive single neuron PID, model reference adaptive algorithm and self-tuning output gain. Simulations and experiments illustrate that the new control algorithm can compensate the asymmetric cylinder system, which is better than the command PID algorithm.
- asymmetric cylinder /
- model reference /
- fuzzy control /
- single neuron

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参考文献(1)

[1] Vossoughi G,Donath M. Dynamic feedback linearization for electrohydraulically actuated control system [J].Dynamic System Measurement Control Transactions of ASME,1995,117(3):468-477 [2] 岳东海.阀控非对称缸电液伺服系统中控制策略研究[J]. 常州信息职业技术学院学报,2006, 1:39-42 Yue Donghai. The research on control strategy of valve controlled asymmetric cylinder electro-hydraulic servo system[J]. Journal of Changzhou Vocational Colkege of Information Technology, 2006, 1:39-42(in Chinese) [3] 张业建,李洪人.阀控非对称电液伺服系统控制策略研究[J].中国机械工程,1999, 10: 1172-1175 Zhang Yejian, Li Hongren. Study on control strategy for an electrohydraulic servo system with valve controlled asymmetric cylinder[J]. China Mechanical Engineering, 1999, 10:1172-1175(in Chinese) [4] 姚臻,杨柳,张国贤.非对称缸伺服系统的变论域模糊控制[J].液压与气动,2004, 9:27-28 Yao Zhen, Yang Liu, Zhang Guoxian. Fuzzy control with variable region in servo system of unsymmetrical cylinder[J]. Chinese Hydraulics & Pneumatics, 2004, 9:27-28(in Chinese) [5] 王栋梁,李洪人,李春萍.非对称阀控制非对称缸系统的静态及动态特性分析[J].机床与液压,2003, 1: 198-200 Wang Dongliang, Li Hongren, Li Chunping. Analysis of static and dynamic propertics of asymmetrical valve controlled asymmetrical cylinder[J]. Machine Tool & Hydraulics, 2003, 1: 198-200(in Chinese) [6] Niksefat N,Sepehri N.Fault tolerant control of electro-hydraulic servo positioning systems Proceedings of the 2001 American Control Conference. Arlington: IEEE Institute of Electrical and Electronics Engineers Incorporated, 2001, 4: 472-477 [7] 王传礼,许贤良.阀控非对称液压机构建模探讨[J].矿山机械,1998, 7: 66-68 Wang Chuanli, Xu Xianliang. Model discussion of valve controlling asymmetric cylinder system[J]. Mining & Processing Equipment, 1998, 7: 66-68(in Chinese)

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