Research On Pneumatic Manipulator Speed Servo Control System

The pneumatic system has relatively simple, non-polluting, reliable, fast transmission speed, easy maintenance and a series of significant other advantages, make it widely used in industrial automation. However, due to some can not overcome the unique natures of the pneumatic servo system, the factors such as the working medium gas's compressibility, the friction characteristics of cylinder and the element non-linear of valve to a large extent affecting the accuracy of pneumatic servo system control and stability, which limits Pneumatic technology widely use. With the advanced control theory and control technology development and application, use of advanced control methods will make the control of pneumatic system control precision and stability are greatly improved.In view of this situation, in this paper, with the pneumatic technology and pneumatic manipulators technology development understanding, the factors which affect the analysis of nonlinear pneumatic system based on the selection of a rational aerodynamic components, analysis of the speed servo control pneumatic manipulator systems which was used of advanced control strategies and get more ideal control effect.In this paper, through analysis of the cylinder friction, pneumatic proportional servo valve non-linear, and the methodology for determining the minimum crawling speed of cylinder in pneumatic servo system, select the appropriate pneumatic components constitute a pneumatic manipulator and reasonable linearization method to analysis the speed of pneumatic robot servo control system.Through analysis the mathematical model for the cylinder and the proportional servo valve, and establish the mathematical model of pneumatic manipulator speed servo-control system; research the development and the types of control strategies which commonly used in pneumatic servo control system. In this paper, as the PID control, neural network control and PID combine with neural network control strategies have the inadequacies, introduce the structure and calculation method of a single variable PID neural network (SPIDNN) control strategy which has a new and be better performance control strategy, and establish the pneumatic robot servo speed control system based on the single variable PID neural network control.Besides, simulate the pneumatic robot speed servo control system use of MATLAB /Simulink simulation software and AMESim and MATLAB/Simulink software co-simulation, through comparison with pneumatic robot servo speed control system simulation results which were controlled by PID control and single-variable PID neural network, we can see that response speed, control accuracy and stability of the speed servo control of pneumatic robot system which based on PID neural network control should be much better than which based on the PID correction system.Finally, summary the research work of the speed servo control system of pneumatic robot and proposed the focus and direction of the research at a later time.