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在单缸膜片式气压驱动系统中,由于气压的可压缩性以及易受外界各种干扰因素的影响,使其成为时变的高度非线性系统,导致系统的动力学行为不够准确,而常规的PID控制器无法克服这些因素带来的影响。为寻求一种较为有效的控制策略,用正交函数为基底的函数近似法来代替系统动态模型中的未知函数,并设计了一种适应性滑动模态控制器来针对气压驱动系统进行轨迹控制。研究中利用Lyapunov稳定法则来确保控制系统在受控过程中的稳定性,并由此获得系统控制参数的更新律。结果表明:使用以函数近似法为基础的适应性滑动模态控制器,在单缸膜片式气压驱动系统中具有较好的控制效果,对外部的扰动和参数不确定性具有较强的鲁棒性,能适应较大的负载变化,在变结构控制中具有较大的优越性。
In the single-cylinder diaphragm pneumatic drive system, due to the compressibility of air pressure and susceptibility to various external disturbances, it becomes a highly time-varying highly nonlinear system, resulting in the system’s dynamic behavior is not accurate enough, and conventional PID controller can not overcome the impact of these factors. In order to find a more effective control strategy, an approximate function based on orthogonal function is used to replace the unknown function in the system dynamic model. An adaptive sliding mode controller is designed to control the trajectory of the pneumatic drive system . In the study, the Lyapunov stability rule is used to ensure the stability of the control system in the controlled process, and the renewal law of the system control parameters is obtained. The results show that the adaptive sliding mode controller based on the function approximation method has good control effect in single-cylinder diaphragm pneumatic drive system and has strong external disturbance and parameter uncertainty Excellent, adaptable to large changes in load, with greater advantages in variable structure control.