| 引用本文: | 盛朝强,赵婷.快速气动力伺服系统的控制[J].控制理论与应用,2010,27(11):1551~1556.[点击复制] |
| SHENG Chao-qiang,ZHAO Ting.Control strategy of fast pneumatic force servo system[J].Control Theory and Technology,2010,27(11):1551~1556.[点击复制] |
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| 快速气动力伺服系统的控制 |
| Control strategy of fast pneumatic force servo system |
| 摘要点击 1439 全文点击 1250 投稿时间：2009-05-18 修订日期：2010-01-21 |
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| DOI编号 10.7641/j.issn.1000-8152.2010.11.CCTA090630 |
| 2010,27(11):1551-1556 |
| 中文关键词 快速气动力伺服 扩展卡尔曼滤波 观测器 摩擦力补偿 |
| 英文关键词 fast pneumatic force servo extended Kalman filter observer friction compensation |
| 基金项目 重庆大学“211工程”三期创新人才培养计划建设资助项目(S–09108). |
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| 中文摘要 |
| 气缸运动在低速时会出现爬行现象. 本文分析气缸爬行现象的机理, 针对摩擦力不易被直接检测到的缺点, 设计扩展卡尔曼滤波观测器对气动力伺服系统中的摩擦力进行在线估计, 将估计的摩擦力引入控制输入, 对摩擦力进行补偿. 仿真与实验结果表明, 该方法具有良好的动静态特性, 跟踪精度较高、鲁棒性强、响应时间快. |
| 英文摘要 |
| Crawl phenomenon will take place in cylinder motion in low speed. We analyze the mechanism of this phenomenon. As the friction can’t be directly detected, extended kalman filter(EKF) observer is designed to estimate online the friction in the pneumatic force servo system, and then, the estimated friction is introduced to the control input for friction compensation. The experiment and simulation results show that this method has good dynamic and static characteristics, high tracking accuracy, high robustness, and quick response. |