R&D On Pneumatic Manipulator Position Control Test Bench Based On LabVIEW

The pneumatic manipulator is widely used in the production field such as food processing industry,microelectronics and other production fields because of its advantages of simple structure,no pollution,cost-effective,etc.However,the pneumatic system has inherently such shortcomings as low stiffness,strongly nonlinear,time variety and time delay,making it difficult to achieve accurate positioning control and the desired effect,so that its application in industry and other areas has been limited.This paper analyzes the dynamic characteristics of the system and friction characteristics by using intelligent control strategies for positioning control system.Firstly, the related concepts,the development process and research status of the pneumatic servo technology are introduced in this paper.The next content is the application of Lab VIEW development platform.The typical nonlinear characteristics of pneumatic system is studied,the mathematical derivation is done on the principle of all aspects of the pneumatic system.Then the system’s mathematical model is established.At last,the static and dynamic characteristics of the system model are analyzed via the simulation platform.By using Lab VIEW and MATLAB simulation to set up a joint platform allows analysis of the dynamic and static characteristics of the system model.It has been associated with the pneumatic system performance parameters,and lays the foundation for the subsequent design of qualitative and quantitative analysis of the characteristics of the system and the controller.Secondly,the three axis linear pneumatic manipulator is chose as the mechanical body foundation,which is imported from Germany Bosch Rexroth,and the NI’s PCI-7358motion control card as the pneumatic servo controller.In the case of unknown parameters related to key components owing to the technology blockade of Rexroth,the works and related parameters of servo valve and grating sensor is determined by experiment,based on the principle of self-servo valve servo amplifier,and finally completed the pneumatic position control system hardware platform After the completion of the hardware platform,we designed using NI hardware and Lab VIEW software to seamlessly connect the pneumatic position control of the host computer simulation and experimental platform.The achievement of the platform is based on the respective merits and MATLAB mixed programming,by using intuitive interfaced has an integrated set of teaching and experimental functional advantages.For the nature of the repetitive motion of the robot,we choose the simple but high-precision algorithm to completely track iterative learning algorithm,using MATLAB prepared iterative learning controller and its control performance simulation,and finally compare the PID algorithm control results. Simulation results show that the algorithm used in iterative learning control performance are better aerodynamic position control.In the end,in the experimental part of this paper,not only the linearity of the servo valve driver’s input and output,but also the response of the system to the step and sinusoidal excitation and positioning accuracy in different locations are tested.Finally,the maximum error of the system under PID control is only0.28mm.