• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>International Journal of Fluid Power >PRESSURE ESTIMATION-BASED ROBUST FORCE CONTROL OF PNEUMATIC ACTUATORS
【24h】

PRESSURE ESTIMATION-BASED ROBUST FORCE CONTROL OF PNEUMATIC ACTUATORS

机译：基于压力估计的气动执行器鲁棒力控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Pneumatic actuators enjoy a number of unique advantages, such as high power density and low cost, in comparison with the widely used electromagnetic actuators. In this paper, a new force control approach is presented for pneumatic actuation systems, with the objective of providing robust control performance while eliminating the need for pressure sensors to reduce the cost and complexity of the system. To achieve this goal, a unique pressure estimation algorithm is developed to provide the required chamber pressure information. This pressure estimation algorithm is formulated according to two simultaneous conditions, established based on the measured actuation force and the average air pressure in the actuator. Utilizing these conditions, the chamber pressures can be calculated through simple algebraic equations instead of complex pressure observers. For the force controller design, the dynamic model of the entire system is developed, and the standard sliding mode control approach is applied to obtain a robust control law. In the experiments, the hypothesis of constant average pressure was verified. Also, the pressure estimation algorithm and the corresponding robust control approach were implemented, and the effectiveness demonstrated by the sinusoidal and square-wave force tracking.
机译：与广泛使用的电磁执行器相比，气动执行器具有许多独特的优势，例如高功率密度和低成本。在本文中，提出了一种用于气动执行系统的新的力控制方法，其目的是提供强大的控制性能，同时消除了对压力传感器的需求，从而降低了系统的成本和复杂性。为了实现这一目标，开发了一种独特的压力估算算法来提供所需的腔室压力信息。该压力估算算法是根据两个同时条件制定的，这两个条件是基于测得的驱动力和执行器中的平均气压建立的。利用这些条件，可以通过简单的代数方程式而不是复杂的压力观测器来计算腔室压力。对于力控制器设计，开发了整个系统的动态模型，并采用标准的滑模控制方法来获得鲁棒的控制律。在实验中，证实了恒定平均压力的假设。此外，实现了压力估计算法和相应的鲁棒控制方法，并通过正弦和方波力跟踪证明了其有效性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号