Research On Position Servo Control System Of Pneumatic Manipulator

Pneumatic system is used more and more widely in industry automation because of its virtues such as cheapness, simpleness, strong resistance for pollution and so on. As an automatic control means, pneumatic position servo technology has been applied in many industry. Based on research of the characteristics of the pneumatic position servo system, control methods of the system in theory and practice are developed and high-accuracy positioning is achieved.The friction of the cylinder and the mass flow rate characteristic are important for pneumatic position control system. The static and dynamic behaviors of the cylinder are analyzed in theory in this paper Firstly. The mathematics model of the friction of the cylinder and the flow rate characteristic is founded by experiments. A nonlinear mathematics model of the electric-pneumatic manipulator is presented. Based on this model, compute digital simulation is completed. The infection of the parameter to the system performance is discussed. The response performance of the system to step symbol and wave symbol is gained. Corresponding control strategy is presented for the pneumatic position control system. It is difficult for classic control method to control the pneumatic because it is strongly nonlinear. Neural Net can approach any curve and adjust parameter on-line. The research of simulations shows that the control strategy presented can improve the static and dynamic behavior of the system effectively.Finally, a cylinder test system and a pneumatic position system are designed and established. The computer aimed test software and control software are also carried out. Then the study to the performance of the cylinder and the pneumatic position servo system in practice is presented.