双阀气动伺服系统的LuGre摩擦模型补偿研究

魏琼; 陆浩; 刘伟恒; 郭川; 李秀红

doi:10.13433/j.cnki.1003-8728.20220142

双阀气动伺服系统的LuGre摩擦模型补偿研究

doi: 10.13433/j.cnki.1003-8728.20220142

湖北工业大学机械工程学院, 武汉 430068

基金项目:

国家自然科学基金项目 51905159

湖北省重点实验室开放基金项目 KFJJ-2020005

详细信息

作者简介:
魏琼(1980-),副教授,博士,研究方向为机电一体化及伺服控制,20140058@hbut.edu.cn

中图分类号: TP273
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- 文章访问数: 94
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- PDF下载量: 15
- 被引次数: 0
出版历程
- 收稿日期: 2021-10-18
- 刊出日期: 2023-10-25

Study on LuGre Model for Friction Compensation of Dual-valve Pneumatic Servo System

School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China

摘要

摘要: 由于摩擦会引起气动位置伺服系统的动态滞后，尤其是气缸活塞在换向过程中容易产生"平顶"现象，因此需要对气动系统进行摩擦补偿。但是由于气动系统本身的参数不确定性和强非线性会影响摩擦补偿的效果，同时气缸两腔耦合与流量饱和会导致控制系统的自由度不高且能量损失较大。针对以上问题，文中采用表征摩擦动态特性良好的LuGre模型来描述气缸摩擦并提出了一种自适应鲁棒控制器进行摩擦补偿，控制器的自适应部分用于控制参数不确定性，鲁棒控制部分用来处理系统的非线性。同时采用两个三位四通比例阀来提高控制自由度并降低能量耗散。仿真结果表明：该补偿策略有效改善了摩擦带来的动态滞后，提高了系统的响应速度与跟踪精度。
- 摩擦补偿 /
- 动态滞后 /
- 气动位置伺服 /
- 自适应鲁棒 /
- 双阀 /
- LuGre模型
Abstract: Because the pneumatic position servo friction will cause the dynamic hysteresis of the system, especially the cylinder piston is prone to "flat top" phenomenon in the commutation process, so it is necessary to compensate the friction for the pneumatic system. However, due to the parameter uncertainties and strong nonlinearities of the pneumatic system, the effect of the friction compensation will be reduced. System is subjected to coupling of the two chambers of the cylinder and saturation of gas flow, which will cause the control system to have a low degree of freedom, and a large energy loss. In response to the above problems, the LuGre model is used to characterize the friction dynamics well, to describe the cylinder friction and propose an adaptive robust controller for friction compensation. The adaptive part of the controller is used to control parameter uncertainties. The robust part is used to deal with the nonlinearities of the system. Two three-position four-way proportional valves are applied to increase the control degrees of freedom and reduce the energy dissipation. The simulation illustrate that the compensation strategy effectively improves the dynamic lag, and improves the dynamic response and tracking accuracy of the system.
- friction compensation /
- dynamic hysteresis /
- pneumatic position servo /
- adaptive robust /
- dual valve /
- LuGre model

HTML全文

图 1 阀口自适应鲁棒控制器结构图

Figure 1. Diagram of the adaptive robust controller structure of a valve port

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图 2 AMESIM模型图

Figure 2. AMESIM model diagram

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图 3 Simulink模型图

Figure 3. Simulink model diagram

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图 4 自适应鲁棒控制的单阀气动伺服系统阶跃响应

Figure 4. Step response of an adaptive robustly controlled single-valve pneumatic servo system

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图 5 自适应鲁棒控制的双阀气动伺服系统阶跃响应

Figure 5. Step response of an adaptive robustly controlled two-valve pneumatic servo system

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图 6 PID控制的双阀气动伺服系统的位置跟踪

Figure 6. Position tracking of a PID-controlled two-valve pneumatic servo system

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图 7 PID控制的双阀气动伺服系统的位置跟踪误差

Figure 7. Position tracking error of a PID-controlled two-valve pneumatic servo system

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图 8 自适应鲁棒控制的单阀气动伺服系统的位置跟踪

Figure 8. Position tracking of an adaptive robustly controlled single-valve pneumatic servo system

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图 9 自适应鲁棒控制的单阀气动伺服系统的位置跟踪误差

Figure 9. Position tracking error of an adaptive robustly controlled single-valve pneumatic servo system

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图 10 自适应鲁棒控制的双阀气动伺服系统的位置跟踪

Figure 10. Position tracking of an adaptive robustly controlled two-valve pneumatic servo system

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图 11 自适应鲁棒控制的双阀气动伺服系统的位置跟踪误差

Figure 11. Position tracking error of an adaptive robustly controlled double-valve pneumatic servo system

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表 1 联合仿真系统参数

Table 1. Parameters of joint simulation system

系统参数	数值
M/kg	0.5
ρ/mm	20
γ	1.4
A_a/m²	3.116×10^-3
A_b/m²	2.810 1×10^-3
V_a0/m³	2.4×10^-5
p_s/Pa	6.53×10⁵
p₀/Pa	1×10⁵
R/[m·(kg·K^-1)]	287
L/m	0.16
n	1.35
F_s/N	12
F_c/N	10
v_s/(m·s^-1)	0.01
σ₀/Nm	50 000
σ₁/(m·s^-1)	2
B/(m·s^-1)	5
k₁	100
k₂	30
k₃	200
h₂(t)	21
h₃(t)	30
η₂	4
η₃	1
γ₀	0.2
γ₁	0.2
Γ	diag{10⁶, 10³, 10³, 10², 10², 10²}

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