Pneumatic force servo system based on disturbance observer

被引：2
|
作者：
王波 [1 ]
王涛 [1 ]
范伟 [1 ]
王渝 [1 ]
机构：
[1] School of Automation,Beijing Institute of Technology
来源：
Journal of Beijing Institute of Technology | 2016年 / 25卷 / 03期
基金：
中国国家自然科学基金;
关键词：
pneumatic servo system; force control; booster cylinder; disturbance observer; feed-forward control;
D O I：
10.15918/j.jbit1004-0579.201625.0307
中图分类号：
TH138 [气压传动]; TP273 [自动控制、自动控制系统];
学科分类号：
080201 ; 080704 ; 0835 ;
摘要：
In order to design a low-cost pneumatic force servo system with large output forces,a scheme of a booster cylinder controlled by high speed solenoid valves is proposed.A nonlinear model of the system is established,in which the hysteresis of high speed solenoid valve is considered.In order to deal with parameter uncertainty and disturbances of noise and friction,a feed-forward control method based on a disturbance observer is proposed.A practical pneumatic force servo system is used to testify the feasibility of the proposed controller.The experimental results show that pneumatic force servo system based on the proposed controller has high force tracking accuracy and quick response.
引用
收藏
页码：346 / 352
页数：7
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