Study Of The Manipulator Realized By Pneumatic Servo System For Shift-Changing In The Equipment Testing Synchronizer In The Automobile

Pneumatic system has been broadly applied in the industrial automation field for its special characters: anti-magnetic, explosion-proof, high-speed, easy maintenance etc. People have had enough knowledge to design and put it into the industrial application at present. As the development of the industrial automation and the control theory, it comes up with the demanding of the pneumatic servo systems and put this into the engineer application to improve the accuracy the pneumatic position system or others. This paper will study the application of the pneumatic servo systems in the shift-changing simulation system. As the development of the automobile industry of the world, the synchronizer-testing equipment is indispensable, and the requirement of accuracy of the position control will be more crucial. So the study of the shift-changing systems in the synchronizer-testing realized by pneumatic servo system will have a broad application foreground.Firstly, the experiment system of the shift-changing is set up. The pneumatic position system model is established by the method of mechanism model and linearized by using the method of general approximate linearization of working–point. Based the experience and the knowledge of the pneumatic system, I finish the calculation and the analysis of the coefficient of the linearized equation. I deduce the transfer function of the input to the output of the system from the linearized model of the system, and also get the state equation of the system to make the preparation for the further study of the state-feedback control strategy. Secondly, from the linearized equation above, I design the controller of the shift-changing system in this paper by the state-feedback strategy, and make some simulation of the controller, get some character of the system to further design the controller and make some compensation by the purse tolerance, the experiment and simulation shows that this strategy can decrease the time of the lag of the system.Thirdly, I make the operation interface procedure by LabWindows/CVI software, and make the real time control system procedure under the RTX platform, and also make some procedure for the application of some cards which used for acquiring or sending data. And I induce the CAN bus format data acquiring and sending in this control system successfully to improve the anti-interruption performance, decrease the influence of the interruption and improve the accuracy of the system.At last, from the problem met in the experiment, I design the multi-variable controller from two different types and do lots of experiment. This approves that the system is more sensitive to the tolerance type. The system under the state-feedback multi-variable gain controller shows that its stability tolerance is very high and its response time is very short, the stability tolerance is in the scope of±0 .06mm, the rise time is lower than 0.3s , before the tolerance is compensated into the input, the delay of the shift-changing curve response is about 0.03s,when the input is compensated by the tolerance, the experiment shows that the system delay time of the shift-changing curve response is about 0.02s. The last result of the experiment proves that this state-feedback control strategy is very effective to the shift-changing system using for simulating the shift-changing by person in the synchronizer-test equipment.