Research On Force Position Control Of The Electric Cylinder

With the rapid development of industrial automation,the actuator is required to have higher performance.The electric cylinder has been widely used with the advantages of high control precision,high response speed,flexible configuration,low noise and low vibration,easy to maintain and long service life.The research of high precision force position control of electric cylinder has very important meaning in theory and practical application.In this paper,a linear electric cylinder is taken as the research object,and the force position control method of the electric cylinder is analyzed and studied in detail.Firstly,the model of the electric cylinder system is modeled.In this paper,the mathematical model of the electric cylinder system is analyzed from the point of view of mechanism modeling.In view of the problem that some parameters are difficult to obtain in the mathematical model,the system identification method is used to model the model.By analyzing the structure and mathematical model of the system,we can understand the characteristics of the system and provide theoretical guidance for the next step to take reasonable force position control strategy.Secondly,the position control strategy of the electric cylinder system is designed.The optimized PID parameters are obtained by the PID control based on particle swarm optimization.The position control precision has a great influence on the force position control performance of the electric cylinder,so the position control precision needs to be improved.An extended state observer is designed to estimate and compensate nonlinear friction and external disturbances.The simulation shows that the control strategy can improve the position control accuracy of the electric cylinder.Then,the force position control algorithm of the electric cylinder is studied.The adaptive impedance control strategy of the electric cylinder system is designed based on the position based impedance control method.In order to reduce the force shock generated by the motion of the electric cylinder from free space to the constraint space,a fuzzy regulator is designed to adjust the parameters of the impedance model,and the fuzzy rules are formulated according to the influence of the impedance model parameters on the output,the influence of the contact force and the debugging experience.In order to eliminate the stability error of the force,the reference trajectory of the impedance control is eliminated.Simulation in Simulink proves the effectiveness of the proposed control strategy.Finally,an experimental platform is set up to carry out position control experiments and adaptive impedance control experiments,and verify the algorithm studied in this paper.