The Research Of Pneumatic Servo DSP Controller Based On Models And Algorithm Transplanting

Pneumatic servo technology has many advantages,such as cleanness,high power quality ratio,easy maintenance and so on.Based on the existing high performance control algorithm prototype of topic group and making some improvement,a pneumatic servo controller is developed,test shows that the embedded pneumatic servo controller achieved high performance trajectory tracking performance achievements in domestic.The main contents are as follows:The first chapter:describe the development progress of embedded pneumatic servo controller,also the research achievements of pneumatic servo control system’framework,modeling and control theory,and make the research difficulties main research contents clear.The second chapter:the structure of direct/indirect adaptive robust control algorithm is analyzed,based on which the pressure observer is designed,it’s proved to be load independent and stable and could be used to take the place of pressure transducer;Kalman filter is designed for online filtering and estimation of velocity and acceleration,simulation and application shows a good effect,system could run without using of the velocity and acceleration sensors of high cost;accurate measurement model of the proportional direction valve was set up.The third chapter:puts forward the design scheme of pneumatic servo controller hardware circuit based on DSP,single cylinder and three axis platform pneumatic servo controller circuit was accomplished.Multi channel of data acquisition and DA output was designed via XINTF bus,the method of hanging a plurality of devices in the same Zone region was implemented with the use of the inverter and the XOR operation;In addition,taking CAN communication circuit’ isolation,switch output,signal indicator lights and so on,interface was standardized.The fourth chapter:embedded software directly generated from the algorithm model by using the model-based design method,do the software in the loop(SIL)simulation,verified the algorithm model functioned as simulation model equal.Provid the algorithm running DSP environment,and the complex control algorithm run in the main program according to the timer beat flag.Reasonable configuration of CAN peripherals to achieve efficient communication.The controller has the function of power down storage,online debugging and modification,which makes the controller more general.The fifth chapter:built test system,developed MFC software of PC and test the performance of pneumatic servo controller.The monitoring and control software of the host computer realizes the six modules,such as the acquisition and preservation of the posture,the communication and transmission of the trajectory data,and the modification of the real-time controller parameters,having the convenience of controller parameter tuning.The single axis controller achieves the algorithm runs real time performance of 1ms stably.Load test results show that the system has good robustness against impact load,and the steady state trajectory tracking performance of the controller achieves a high accuracy of less than 1.5%of the average error and the travel amplitude,which achieved the expected goal.The sixth chapter:summarizes the research work of pneumatic servo controller,and prospects the future research direction.