新型高频纵振减摩气缸的滑模运动轨迹跟踪控制

钱鹏飞; 浦晨玮; 刘磊; 吕盘松; 何迪; 张兵

doi:10.7652/xjtuxb202210003

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新型高频纵振减摩气缸的滑模运动轨迹跟踪控制

专题 ICFPMCE 2022国际会议 | 更新时间：2025-07-09

- 新型高频纵振减摩气缸的滑模运动轨迹跟踪控制
- Sliding Mode Motion Trajectory Tracking Control of a Novel High-Frequency Longitudinal Vibration Friction-Reducing Pneumatic Cylinder
- 西安交通大学学报 2022年56卷第10期页码：22-30
- 作者机构：
  
  1. 江苏大学机械工程学院,江苏,镇江,212013
  2. 浙江大学流体动力与机电系统国家重点实验室,杭州,310027
- 作者简介：
  
  : 2022-03-08。作者简介: 钱鹏飞(1987—),男,副教授,博士生导师。基金项目: 国家自然科学基金资助项目(52075223)
- 基金信息：
  
  : 2022-03-08。作者简介: 钱鹏飞(1987—),男,副教授,博士生导师。基金项目: 国家自然科学基金资助项目(52075223);中国博士后科学基金资助项目(2021M691308);江苏省博士后科研资助计划资助项目(2021K261B)
- DOI：10.7652/xjtuxb202210003
  中图分类号： TH138
- 网络首发：2022-10-10，
  
  纸质出版：2022
- 稿件说明：
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钱鹏飞, 浦晨玮, 刘磊, 等. 新型高频纵振减摩气缸的滑模运动轨迹跟踪控制[J]. 西安交通大学学报, 2022,56(10):22-30.

Sliding Mode Motion Trajectory Tracking Control of a Novel High-Frequency Longitudinal Vibration Friction-Reducing Pneumatic Cylinder[J]. 2022, 56(10): 22-30.
钱鹏飞, 浦晨玮, 刘磊, 等. 新型高频纵振减摩气缸的滑模运动轨迹跟踪控制[J]. 西安交通大学学报, 2022,56(10):22-30. DOI： 10.7652/xjtuxb202210003.

Sliding Mode Motion Trajectory Tracking Control of a Novel High-Frequency Longitudinal Vibration Friction-Reducing Pneumatic Cylinder[J]. 2022, 56(10): 22-30. DOI： 10.7652/xjtuxb202210003.

摘要

为了改善气缸的运动伺服控制精度

设计了一款基于压电叠堆逆压电效应和振动减摩原理的新型高频纵振减摩的气缸

期望通过高频振动减弱气缸摩擦的不确定性和负阻尼特性。考虑到阀控缸气动系统是一个强非线性系统

基于模型的非线性控制器是实现高精度运动轨迹跟踪控制的首选。滑模控制作为一种较常用的非线性控制算法

对建模误差、未建模动态和外部扰动有很强的鲁棒性

于是构建了一个基于模型的积分滑模控制器进行轨迹跟踪实验。实验结果表明:高频纵向振动不仅能减小气缸的摩擦力

还能有效提高气缸的运动轨迹跟踪精度; 所设计基于模型的非线性滑模控制器是有效的

在跟踪频率为0.25、0.125 Hz的正弦参考轨迹时

最大轨迹跟踪误差分别减少了19.61%、20.55%。采用高频振动减少摩擦的方式能够提高气缸运动控制精度

可满足对气缸高精度控制要求的场合。

Abstract

To improve the motion servo control accuracy of pneumatic cylinder

a novel high-frequency longitudinal vibration friction-reducing pneumatic cylinder based on the inverse piezoelectric effect of piezoelectric stacks and vibration friction reduction principle is designed

expecting to weaken the uncertainty and negative damping characteristic of pneumatic cylinder friction by high-frequency vibration. Considering that the valve-controlled cylinder pneumatic system is a strongly nonlinear system

the model-based nonlinear controller is preferred for a high-precision motion trajectory tracking control. As a relatively common nonlinear control algorithm

the sliding mode control is highly robust to modeling errors

unmodeled dynamics and external disturbances. To this end

a model-based integral sliding mode controller is constructed for performing trajectory tracking tests. The test results show that the high-frequency longitudinal vibration can not only reduce the pneumatic cylinder friction

but also effectively improve its motion trajectory tracking accuracy. The designed model-based nonlinear sliding mode controller is effective

and the maximum tracking error is reduced by 19.61% and 20.55% when tracking sinusoidal reference trajectories with frequencies of 0.25 Hz and 0.125 Hz respectively. The approach of reducing friction using high-frequency vibration can improve the motion control accuracy of the pneumatic cylinder. It can be also used in the occasions where a high-precision control of the pneumatic cylinder is required.

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references

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