Force/Position Switching Control Of Penumatic Servo System

With the rapid development of industry,pneumatic technology is widely used in various industries due to its advantages of low cost,high efficiency,high power to weight ratio,no pollution,energy saving,convenient use and maintenance,and low environmental requirements(such as antimagnetic,explosion-proof.fire-proof.etc.).The main control of pneumatic servo system can be divided into two types:position control and force control.At present,the application of pneumatic system is more and more,and the working condition is more complex.In many control cases,a single control mode can not meet people's expectations,so it is necessary to switch the two controls flexibly to achieve the control purpose.However,when the two kinds of control of the pneumatic servo system are switched,the stability of the system will be poor because of the system parameters' jump and jitter,which will affect the performance of the system.Therefore,it is an urgent problem to reduce the jitter caused by force and position control and improve the stability and smoothness of the system switching.This paper takes the pneumatic servo system as the research object,establishes the mathematical model of each component of the pneumatic servo system,and obtains the mathematical model of the position control and force control of the pneumatic servo system through the research and analysis.In the process of studying the switching control,the formation of the air cylinder is divided into two stages:no external force and external force.When the air cylinder is not under external force,the position PID control is used to control the position of the air cylinder;when the air cylinder is under external force,the fuzzy PID control is used to control the force of the air cylinder;when the two systems are switched,according to the control weight of the output force,the fuzzy control is used to switch the air cylinder,so as to reduce the jitter and improve the performance of the switch Switching smoothness and system stability.In order to verify the accuracy and reliability of the system,the control models of the force and position system are established in Matlab/Simulink.The position control is controlled by the position PID controller.The force control is controlled by the fuzzy PID controller.At the same time,the switching model is established.When switching,the fuzzy controller is used and the S-function is designed to switch the system.The system is simulated The real experiment is carried out and the results are analyzed.The results show that the controller designed in this paper can basically achieve the desired control effect.