国防科技大学学报2024，Vol.46Issue(4)：133-141,9.DOI:10.11887/j.cn.202404014
比例阀控气缸系统确定性鲁棒反步运动跟踪控制器
Deterministic robust backstepping motion tracking controller for proportional valve-controlled pneumatic cylinder system
摘要
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.关键词
比例阀/气缸/运动轨迹跟踪/反步法/确定性鲁棒控制Key words
proportional valve/pneumatic cylinder/motion trajectory tracking/backstepping method/deterministic robust control分类
信息技术与安全科学引用本文复制引用
浦晨玮,刘磊,何迪,钱鹏飞..比例阀控气缸系统确定性鲁棒反步运动跟踪控制器[J].国防科技大学学报,2024,46(4):133-141,9.基金项目
国家自然科学基金资助项目(52075223) （52075223）
中国博士后科学基金资助项目(2021M691308) （2021M691308）
江苏省博士后科研资助计划基金资助项目(2021K261B) （2021K261B）
江苏省研究生科研与实践创新计划资助项目(KYCX24_3927) （KYCX24_3927）
