比例阀控气缸系统确定性鲁棒反步运动跟踪控制器
2024,46(4):133-141
浦晨玮
江苏大学 机械工程学院, 江苏 镇江 212013，704125453@qq.com
刘磊
江苏大学 机械工程学院, 江苏 镇江 212013
何迪
江苏大学 机械工程学院, 江苏 镇江 212013
钱鹏飞
江苏大学 机械工程学院, 江苏 镇江 212013
江苏大学 机械工程学院, 江苏 镇江 212013，704125453@qq.com
刘磊
江苏大学 机械工程学院, 江苏 镇江 212013
何迪
江苏大学 机械工程学院, 江苏 镇江 212013
钱鹏飞
江苏大学 机械工程学院, 江苏 镇江 212013
摘要：
为实现气缸运动轨迹的高精度鲁棒控制,建立了比例阀控缸系统的数学模型,并基于反步法设计了一种能够有效抑制系统模型参数不确定性、未建模动态和外界扰动等因素影响的非线性确定性鲁棒控制器。利用MATLAB中的Simulink模块构建气缸运动轨迹跟踪控制系统仿真模型。采用MATLAB/Simulink中的xPC-Target开发了基于非线性确定性鲁棒控制器的气缸运动轨迹实时控制系统。仿真结果表明所设计控制器是可行的。试验结果表明该控制器能够有效地跟踪参考轨迹,跟踪0.3 Hz正弦轨迹时的最大跟踪误差为0.89 mm,约为幅值的2.97%；跟踪0.4 Hz正弦轨迹时的最大跟踪误差为1.02 mm,为幅值的3.4%。
为实现气缸运动轨迹的高精度鲁棒控制,建立了比例阀控缸系统的数学模型,并基于反步法设计了一种能够有效抑制系统模型参数不确定性、未建模动态和外界扰动等因素影响的非线性确定性鲁棒控制器。利用MATLAB中的Simulink模块构建气缸运动轨迹跟踪控制系统仿真模型。采用MATLAB/Simulink中的xPC-Target开发了基于非线性确定性鲁棒控制器的气缸运动轨迹实时控制系统。仿真结果表明所设计控制器是可行的。试验结果表明该控制器能够有效地跟踪参考轨迹,跟踪0.3 Hz正弦轨迹时的最大跟踪误差为0.89 mm,约为幅值的2.97%；跟踪0.4 Hz正弦轨迹时的最大跟踪误差为1.02 mm,为幅值的3.4%。
基金项目：
国家自然科学基金资助项目(52075223)；中国博士后科学基金资助项目(2021M691308)；江苏省博士后科研资助计划基金资助项目(2021K261B)；江苏省研究生科研与实践创新计划资助项目(KYCX24_3927)
国家自然科学基金资助项目(52075223)；中国博士后科学基金资助项目(2021M691308)；江苏省博士后科研资助计划基金资助项目(2021K261B)；江苏省研究生科研与实践创新计划资助项目(KYCX24_3927)
Deterministic robust backstepping motion tracking controller for proportional valve-controlled pneumatic cylinder system
PU Chenwei
School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China,704125453@qq.com
LIU Lei
School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China
HE Di
School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China
QIAN Pengfei
School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China
School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China,704125453@qq.com
LIU Lei
School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China
HE Di
School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China
QIAN Pengfei
School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China
Abstract：
In order to achieve high-precision robust control of pneumatic cylinder motion trajectory, the mathematical model of proportional valve-controlled pneumatic cylinder system was established, and a non-linear deterministic robust controller was designed on the basis of the backstepping method, which can effectively suppress the effects of system model parameter uncertainty, unmodelled dynamics and external disturbances. The Simulink module in MATLAB was used to construct a simulation model of the pneumatic cylinder motion trajectory tracking control system. A real-time control system for pneumatic cylinder motion trajectory based on a non-linear deterministic robust controller was developed using xPC-Target in MATLAB/Simulink. The simulation results show that the designed controller is feasible. The test results show that the controller can effectively track the reference trajectory, with a maximum tracking error of 0.89 mm for a 0.3 Hz sinusoidal trajectory, which is about 2.97% of the amplitude, and 1.02 mm for a 0.4 Hz sinusoidal trajectory, which is 3.4% of the amplitude.
In order to achieve high-precision robust control of pneumatic cylinder motion trajectory, the mathematical model of proportional valve-controlled pneumatic cylinder system was established, and a non-linear deterministic robust controller was designed on the basis of the backstepping method, which can effectively suppress the effects of system model parameter uncertainty, unmodelled dynamics and external disturbances. The Simulink module in MATLAB was used to construct a simulation model of the pneumatic cylinder motion trajectory tracking control system. A real-time control system for pneumatic cylinder motion trajectory based on a non-linear deterministic robust controller was developed using xPC-Target in MATLAB/Simulink. The simulation results show that the designed controller is feasible. The test results show that the controller can effectively track the reference trajectory, with a maximum tracking error of 0.89 mm for a 0.3 Hz sinusoidal trajectory, which is about 2.97% of the amplitude, and 1.02 mm for a 0.4 Hz sinusoidal trajectory, which is 3.4% of the amplitude.
收稿日期：
2022-04-28
2022-04-28
