气动比例位置系统速度反馈与不完全微分PID控制

doi:10.16180/j.cnki.issn1007-7820.2020.04.012

摘要/Abstract

摘要：

随着气动技术在各个领域的应用日渐广泛,气动比例位置控制系统优化已成为发展的必然趋势。文中建立了气动比例位置系统的数学模型,绘制系统Bode图并验证了其稳定性。通过引入速度反馈,并结合不完全微分型PID对气动比例位置系统的响应时间、精度和稳定性进行分析。仿真结果表明,引入速度反馈的不完全微分型PID校正的系统阶跃响应曲线,对比无校正、普通PID和不完全微分型PID对于阶跃信号的响应,其时间降低2.1 s,稳态误差下降0.22 mm,响应时间和稳态误差皆依次递减,响应过程更加平稳。引入速度反馈的不完全微分型PID校正的正弦追踪误差更小、稳定性更强、追踪效果更佳。该校正方法使系统响应速度大幅度提升的同时,显著增大了系统的精度并改善了系统的动静态特性。

关键词: 气动, 位置控制, 比例, PID, 不完全微分, 速度反馈

Abstract:

Pneumatic technology has been widely used in various fields. The optimization of pneumatic proportional position control system has been the inevitable trend of development. This study established the mathematical model of the pneumatic proportional position system, drew the Bode diagram of the system and verified its stability. The response time, accuracy and stability of the pneumatic proportional position system were analyzed by introducing velocity feedback and combining with the incomplete differential PID. The simulation results showed that the step response curves of the system with speed feedback and incomplete differential PID correction could reduce the response time by 2.1 s and the steady-state error by 0.22 mm compared with those of uncorrected, ordinary and incomplete differential PID correction. The response time and steady-state error decreased in turn, and the response process was more stable. The incomplete differential PID correction with speed feedback was introduced, so that the sinusoidal tracking error was smaller, the stability was stronger, and the tracking effect was better. Therefore, while the response speed of the system was greatly improved, the accuracy of the system was significantly increased. These results demonstrated that the dynamic and static characteristics of the system were significantly improved.

Key words: pneumatic, position control, proportional, PID, incomplete differential, speed feedback

中图分类号:

TP211

孙瑞芳,张晓龙,梁文凯,谢晓全. 气动比例位置系统速度反馈与不完全微分PID控制[J]. 电子科技, 2020, 33(4): 65-70.

SUN Ruifang,ZHANG Xiaolong,LIANG Wenkai,XIE Xiaoquan. Speed Feedback and Incomplete Differential PID Control of Pneumatic Proportional Position System[J]. Electronic Science and Technology, 2020, 33(4): 65-70.

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校正方法	响应时间/s	稳态误差/mm
无校正	2.5	0.024
普通PID	1.0	0.012
不完全微分型PID	0.7	0.005
引入速度反馈的不完全微分型PID	0.4	0.002