本文關(guān)鍵詞： 氣動(dòng)伺服位置控制 運(yùn)動(dòng)軌跡跟蹤控制 同步控制 自適應(yīng)魯棒控制 交叉耦合 死區(qū)補(bǔ)償 LuGre模型 摩擦力補(bǔ)償　出處：《浙江大學(xué)》2013年博士論文　論文類型：學(xué)位論文

【摘要】：因?yàn)榫哂泄β?質(zhì)量比大、清潔、結(jié)構(gòu)簡(jiǎn)單、易維護(hù)等優(yōu)點(diǎn),氣動(dòng)同步技術(shù)在機(jī)器人、工業(yè)自動(dòng)化和醫(yī)療機(jī)械等領(lǐng)域具有廣泛的應(yīng)用前景。但是氣動(dòng)系統(tǒng)具有很多不利于精確控制的弱點(diǎn),如強(qiáng)非線性、參數(shù)時(shí)變性和模型不確定性等,如何提高氣動(dòng)位置伺服系統(tǒng)的軌跡跟蹤控制性能和如何實(shí)現(xiàn)多執(zhí)行元件同步控制仍是當(dāng)前氣動(dòng)技術(shù)研究的一個(gè)重要方向。本論文以一個(gè)雙氣缸的氣動(dòng)同步系統(tǒng)為研究對(duì)象,以實(shí)現(xiàn)單缸的高精度運(yùn)動(dòng)軌跡跟蹤控制和雙缸的精確位置同步控制為研究目標(biāo),利用理論分析和實(shí)驗(yàn)相結(jié)合的方法,從建立精確描述系統(tǒng)特性的非線性模型入手,深入的研究了氣動(dòng)伺服位置控制策略和氣動(dòng)同步控制方法。 為實(shí)現(xiàn)氣缸的高精度運(yùn)動(dòng)軌跡跟蹤控制,本論文首先基于LuGre模型對(duì)氣缸摩擦力進(jìn)行了補(bǔ)償,并提出了一種含死區(qū)補(bǔ)償?shù)淖赃m應(yīng)魯棒控制策略。該控制器采用雙觀測(cè)器來(lái)估計(jì)摩擦力內(nèi)狀態(tài),通過(guò)在線最小二乘參數(shù)估計(jì)來(lái)減小模型中參數(shù)不確定性,并利用非線性魯棒控制來(lái)抑制參數(shù)估計(jì)誤差、未建模動(dòng)態(tài)和干擾的影響,從而保證一定的魯棒瞬態(tài)性能和高的穩(wěn)態(tài)跟蹤精度。由于使用了標(biāo)準(zhǔn)投影映射技術(shù),參數(shù)自適應(yīng)律與非線性魯棒控制器兩個(gè)部分可以獨(dú)立進(jìn)行設(shè)計(jì)。鑒于系統(tǒng)模型中的不確定性是非匹配的,采用了反步法來(lái)設(shè)計(jì)非線性魯棒控制器。此外,由于控制器能在線辨識(shí)閥的死區(qū)參數(shù)并對(duì)死區(qū)進(jìn)行補(bǔ)償,算法的可移植性好。在此基礎(chǔ)上,將交叉耦合思想與直接/間接集成自適應(yīng)魯棒控制結(jié)合起來(lái),提出一種基于交叉耦合方法的自適應(yīng)魯棒氣動(dòng)同步控制策略,實(shí)現(xiàn)了雙缸的精確位置同步控制。 本論文共分六章,現(xiàn)將各章內(nèi)容分述如下： 第一章,詳細(xì)介紹了氣動(dòng)伺服位置控制的研究現(xiàn)狀,指出提高氣缸的軌跡跟蹤控制性能仍是當(dāng)前氣動(dòng)技術(shù)研究的一個(gè)重要方向；簡(jiǎn)述了氣動(dòng)同步控制的研究背景和研究現(xiàn)狀；最后概述了本課題的研究意義、研究難點(diǎn)以及主要研究?jī)?nèi)容。 第二章,描述了氣動(dòng)同步系統(tǒng)實(shí)驗(yàn)裝置的硬件組成；研究了氣體通過(guò)控制閥閥口的流動(dòng)、氣缸兩腔內(nèi)氣體的熱力過(guò)程和氣缸的摩擦力特性等問(wèn)題,建立了氣動(dòng)同步系統(tǒng)的非線性模型,為控制器設(shè)計(jì)做好準(zhǔn)備；通過(guò)參數(shù)辨識(shí),獲得了控制閥閥口開度與控制電壓的關(guān)系以及缸內(nèi)空氣與氣缸內(nèi)壁間的熱傳導(dǎo)率；為滿足高精度氣動(dòng)伺服位置控制時(shí)基于模型的摩擦力補(bǔ)償需要,建立了氣缸的LuGre動(dòng)態(tài)摩擦模型并對(duì)其中參數(shù)進(jìn)行了辨識(shí)。 第三章,給出氣動(dòng)同步系統(tǒng)某一軸的非線性狀態(tài)空間模型,并分析系統(tǒng)的控制難點(diǎn),歸納出為實(shí)現(xiàn)氣缸的高精度運(yùn)動(dòng)軌跡跟蹤控制,所采用的控制方法必須考慮模型中參數(shù)不確定性和不確定非線性的影響。首先為氣動(dòng)位置伺服系統(tǒng)設(shè)計(jì)一個(gè)魯棒自適應(yīng)控制器和一個(gè)確定性魯棒控制器,通過(guò)分析二者的優(yōu)點(diǎn)和研究如何將它們有機(jī)結(jié)合,提出了一種氣動(dòng)位置伺服系統(tǒng)的自適應(yīng)魯棒運(yùn)動(dòng)軌跡跟蹤控制策略。它采用在線參數(shù)的自適應(yīng)調(diào)節(jié)減小模型參數(shù)不確定性,同時(shí)通過(guò)魯棒控制律抑制不確定非線性的影響,從而達(dá)到較好的動(dòng)態(tài)性能和較高的穩(wěn)態(tài)跟蹤精度。實(shí)驗(yàn)證明,自適應(yīng)魯棒控制器是有效的,控制性能高于文獻(xiàn)中已有的研究成果,且對(duì)系統(tǒng)參數(shù)變化和干擾具有較強(qiáng)的性能魯棒性。 第四章,在上一章研究的自適應(yīng)魯棒控制器基礎(chǔ)上,通過(guò)引入一個(gè)動(dòng)態(tài)補(bǔ)償型快速自適應(yīng)項(xiàng),設(shè)計(jì)了直接／間接集成自適應(yīng)魯棒控制器,提高了系統(tǒng)瞬態(tài)跟蹤性能；針對(duì)比例方向控制閥存在顯著的死區(qū)且不同閥的死區(qū)特性差異較大的情況,提出一種含死區(qū)補(bǔ)償?shù)闹苯樱g接集成自適應(yīng)魯棒控制器,在線辨識(shí)閥的死區(qū)參數(shù)并通過(guò)構(gòu)造死區(qū)逆對(duì)死區(qū)進(jìn)行補(bǔ)償,提高了算法的可移植性；為進(jìn)一步提高氣缸低速運(yùn)行時(shí)的軌跡跟蹤控制精度,研究了基于LuGre模型的氣缸摩擦力補(bǔ)償方法以及如何將該補(bǔ)償方法與直接／間接集成自適應(yīng)魯棒控制方法結(jié)合起來(lái)。最后,通過(guò)實(shí)驗(yàn)證明了上述氣動(dòng)位置伺服系統(tǒng)的高精度運(yùn)動(dòng)軌跡跟蹤控制策略的有效性。跟蹤幅值為0.125m、頻率為0.5Hz正弦軌跡時(shí),最大穩(wěn)態(tài)跟蹤誤差為1.32mm,平均穩(wěn)態(tài)跟蹤誤差為0.68mm,瞬態(tài)過(guò)程最大跟蹤誤差為1.61mm；跟蹤低速正弦軌跡時(shí),最大穩(wěn)態(tài)跟蹤誤差為0.59mm,平均穩(wěn)態(tài)跟蹤誤差為0.21mm。 第五章,提出一種基于交叉耦合方法的自適應(yīng)魯棒氣動(dòng)同步控制策略,既保證多氣缸精確同步又不影響系統(tǒng)中每一氣缸的軌跡跟蹤控制精度,基本思想是：將同步誤差反饋至每個(gè)軸控制器的輸入端與軌跡跟蹤誤差組成一個(gè)新的稱為耦合誤差的變量,為每個(gè)軸分別設(shè)計(jì)直接/間接集成自適應(yīng)魯棒控制器使耦合誤差收斂,實(shí)現(xiàn)軌跡跟蹤誤差和同步誤差同時(shí)收斂。給出了控制器的詳細(xì)設(shè)計(jì)步驟,并以雙氣缸同步為例,通過(guò)實(shí)驗(yàn)證明控制器的有效性和性能魯棒性。跟蹤幅值為0.125m、頻率為0.5Hz的正弦期望軌跡時(shí),最大同步誤差為1.25mm左右,平均同步誤差為0.67mm左右。 第六章,對(duì)本論文的主要工作、研究結(jié)論和創(chuàng)新點(diǎn)進(jìn)行了總結(jié),并對(duì)未來(lái)的研究工作進(jìn)行了展望。
[Abstract]:Because has the power to mass ratio is large, clean, simple structure, easy maintenance, pneumatic synchronization technology in robot, and has wide application prospect in industrial automation fields and medical machinery. But the pneumatic system has many not conducive to precise control weaknesses, such as strong nonlinear, time-varying parameters and model uncertainty so, how to improve the pneumatic position servo system of tracking control performance and how to realize multi actuator synchronization control is the pneumatic technology research is an important direction. In this paper, a double cylinder pneumatic synchronization system as the research object, the exact location of the trajectory in order to achieve high precision tracking control of single cylinder and double cylinder synchronous control as the research object, using the method of combination of theoretical analysis and experiment, starting from the nonlinear model accurately describes system characteristics, in-depth study of the pneumatic servo position The control strategy and the pneumatic synchronous control method are used.
To realize high precision trajectory tracking control of the pneumatic cylinder, this paper based on the LuGre model is used to compensate the friction of the cylinder, this paper proposes an adaptive robust control strategy with dead time compensation. The controller adopts double observer to estimate the friction within the state, through the least squares estimation in line parameters to reduce the model parameter uncertainty, and by using the nonlinear robust control to suppress the influence of parameter estimation error, unmodeled dynamics and disturbances, so as to ensure a robust transient performance and high tracking precision. Due to the use of the standard projection mapping technique, adaptive parameters and nonlinear robust controller of two parts to be designed. In view of the uncertainty in the system model is non matching, using the backstepping method to design nonlinear robust controller. In addition, the controller can on-line identification of valve dead zone The parameters and dead time compensation algorithm, the portability is good. On this basis, the cross coupling theory and integrated direct / indirect adaptive robust control combined, proposes an adaptive robust method of dynamic gas cross coupling synchronous control strategy based on the realized precise position of double cylinder synchronous control.
This paper is divided into six chapters, and the contents of each chapter are described as follows:
The first chapter introduces the research status of pneumatic servo position control, points out that improving the tracking performance of the pneumatic technology is still an important direction in the research of the cylinder trajectory; introduces the research background and research status of pneumatic synchronization control; finally summarizes the significance of the research topic, research difficulties and main research contents.
The second chapter describes the pneumatic synchronization system hardware composition; the gas control valve through the valve port flow, friction characteristics on the thermal process and the cylinder cylinder two chamber gas, to establish the nonlinear model of pneumatic synchronization system, meter ready for the controller design; obtained by parameter identification. Control valve opening and the relationship between the control voltage and the heat conduction in the air cylinder and the inner wall of the cylinder between the rate; in order to meet the high precision pneumatic servo position control based on friction compensation model, established the LuGre dynamic friction model of the cylinder and the parameters are identified.
The third chapter to the dynamic nonlinear state space model of a shaft synchronization system and control system of air, difficulty, summed up the tracking trajectory to achieve high-precision cylinder control, the control methods must be taken into account in the model parameter uncertainty and uncertainty nonlinear. The first is to design a robust the adaptive controller and a robust controller of pneumatic position servo system, through the analysis of the two advantages and study how the organic combination of them, this paper presents a robust adaptive trajectory of a pneumatic position servo system. It adopts the adaptive tracking control strategy online parameter adjustment to reduce the uncertainty of model parameters, the robust control law inhibition of uncertain nonlinear effect, steady state so as to achieve good dynamic performance and high tracking accuracy. The experimental results show that the robust adaptive controller It is effective. The control performance is higher than the existing research results in the literature, and it has strong performance robustness for system parameters change and interference.
The fourth chapter, the adaptive robust controller based on the research in the last chapter, by introducing a fast adaptive dynamic compensation, the design of integrated direct / indirect adaptive robust controller, improve system transient tracking performance; the proportional directional control valve of the valve dead zone and significantly different dead zone with different characteristics, put forward direct / indirect adaptive robust controller is integrated with a dead time compensation, dead time on-line parameter identification of valve and through the construction of dead zone compensation for dead time, improves the portability; tracking control precision for the further improving of the cylinder during low-speed operation trajectory of cylinder friction compensation method based on LuGre model and how will the compensation method and integrated direct / indirect adaptive robust control methods together. Finally, through the experiment proved that the pneumatic The effectiveness of trajectory tracking control strategy of high precision servo system tracking. The amplitude of 0.125m, frequency of 0.5Hz sinusoidal trajectory, the maximum tracking error is 1.32mm, the average tracking error is 0.68mm, the transient maximum tracking error is 1.61mm; low speed tracking sinusoidal trajectory, the maximum tracking error is 0.59mm, the average the tracking error is 0.21mm.
The fifth chapter, this paper proposes an adaptive robust method of dynamic gas cross coupling synchronous control strategy based on multi cylinder ensures accurate synchronization and does not affect the control precision of each cylinder of the tracking system, the basic idea is: the synchronization error feedback to each axis of the input end of the controller and trajectory tracking error to form a new call for the coupling error of variables for each axis integrated direct / indirect adaptive robust controller so that the coupling error convergence design respectively, realize trajectory tracking error and synchronization error and convergence. The detailed design procedure of controller is given, and the double cylinder synchronization as an example, through effective and robust performance controller. Experiments show that the amplitude of tracking 0.125m, the frequency of sinusoidal trajectory 0.5Hz, maximum synchronization error is about 1.25mm, the average synchronization error is about 0.67mm.
In the sixth chapter, the main work of this paper, the research conclusions and the innovation points are summarized, and the future research work is prospected.

【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2013
【分類號(hào)】：TH138;TP273

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