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为了提高线性气缸的定位精度、减小制动冲击,提出了基于磁流变阻尼器的位置速度复合控制策略。依据气缸两腔压力差和磁流变阻尼特性,建立了气动系统定位过程的动力平衡方程,通过分析阻尼控制电流的变化规律和系统响应对定位精度的影响,分别提出了速度柔性控制和位置补偿控制算法。在该算法下采用位置速度复合控制策略进行试验研究表明定位误差随着负载质量的增大而增大,随着目标位置的增大而减小,对气源压力波动有较好鲁棒性。该控制策略在改善系统冲击特性的基础上提高了定位精度,为磁流变技术在气动位置伺服控制中的应用提供了理论与试验依据。
In order to improve the positioning precision of linear cylinder and reduce the brake impact, a compound speed control strategy based on MR damper is proposed. According to the pressure difference between the two chambers of the cylinder and the damping property of the magnetorheological fluid, the dynamic balance equation of the pneumatic system is established. By analyzing the variation law of the damping control current and the influence of the system response on the positioning accuracy, the velocity flexible control and the position compensation Control algorithm. The experimental results show that the positioning error increases with the increase of load mass and decreases with the increase of the target position, which is better robustness to pressure fluctuation of air source. The control strategy improves the positioning accuracy on the basis of improving the system’s impact characteristics and provides theoretical and experimental basis for the application of MR technology in pneumatic position servo control.