摆动气缸位置伺服系统带摩擦力矩补偿的双环控制研究

该文对三通比例流量阀控制的摆动气缸转角位置伺服系统进行研究。分析了由非线性摩擦力矩引起的系统稳态误差及粘滑振荡现象；在此基础上提出采用带摩擦力矩补偿的双环控制，其内环为压力差控制，外环为位置控制，外环采用了摩擦力矩观测补偿器来减小非线性摩擦力矩对系统性能的影响。实验结果表明：与仅有位置控制环的控制策略相比，该方法提高了系统的稳态精度和动态性能。

Dual-loop Control Strategy with Friction Compensation for Pneumatic Rotary Actuator Position Servo System

A pneumatic rotary actuator angular position servo system is studied, which adopts 3-port proportional flow valve as a control device. The system steady-state error and the stick-slip phenomenon caused by the nonlinear friction are analyzed. A dual-loop control strategy with friction compensation for the system are proposed. The controller has an inner pressure difference control loop and an outer position control loop. In the outer loop, a simple friction compensator is used to eliminate the negative effects of the nonlinear friction. Experimental results show that the system performance using the proposed control strategy is better than that using the control strategy with position control loop only.