This paper introduces a pneumatic finger cylinder servo control system for medical grabbing.First,according to the physical structure of the proportional directional valve and the pneumatic cylinder,the state equation...This paper introduces a pneumatic finger cylinder servo control system for medical grabbing.First,according to the physical structure of the proportional directional valve and the pneumatic cylinder,the state equation of the gas in the servo system was obtained.The Stribeck friction compensation model of a pneumatic finger cylinder controlled by a proportional valve was established and the experimental platform built.To allow the system output to bet-ter track the change in the input signal,the flow-gain compensation method was adopted.On this basis,a friction compensation control strategy based on a differential evolution algorithm was proposed and applied to the position control system of a pneumatic finger cylinder.Finally,the strategy was compared with the traditional proportional derivative(PD)strategy and that with friction compensation.The experimental results showed that the position accuracy of the finger cylinder position control system can be improved by using the friction compensation strategy based on the differential evolution algorithm to optimize the PD parameters.展开更多
When saving energy in a pneumatic system,the problem of energy losses is usually solved by reducing the air supply pressure.The power-matching method is applied to optimize the air-supply pressure of the pneumatic sys...When saving energy in a pneumatic system,the problem of energy losses is usually solved by reducing the air supply pressure.The power-matching method is applied to optimize the air-supply pressure of the pneumatic system,and the energy-saving effect is verified by experiments.First,the experimental platform of a pneumatic rotary actuator servo-control system is built,and the mechanism of the valve-controlled cylinder system is analyzed.Then,the output power characteristics and load characteristics of the system are derived,and their characteristic curves are drawn.The employed air compressor is considered as a constant-pressure source of a quantitative pump,and the power characteristic of the system is matched.The power source characteristic curve should envelope the output characteristic curve and load characteristic curve.The minimum gas supply pressure obtained by power matching represents the optimal gas supply pressure.The comparative experiments under two different gas supply pressure conditions show that the system under the optimal gas supply pressure can greatly reduce energy losses.展开更多
In order to improve the position control accuracy of rodless cylinder,the valve control cylinder system based on pneumatic proportional servo is studied deeply.According to the working principle of the mechanical rodl...In order to improve the position control accuracy of rodless cylinder,the valve control cylinder system based on pneumatic proportional servo is studied deeply.According to the working principle of the mechanical rodless cylinder control system,under the condition of uniform speed,the driving voltage of the proportional valve is changed to measure multiple sets of friction force and corresponding velocity data.Analyzed the physical structure of each component in pneumatic system,established the mathematical model of pneumatic system,and introduced MATLAB system identification toolbox to identify the parameters of the transfer function.and the experiment verifies its correctness.展开更多
Magnetically coupled rodless cylinders are widely used in the coordinate positioning of mechanical arms,electro-static paintings,and other industrial applications.However,they exhibit strong nonlinear characteristics,...Magnetically coupled rodless cylinders are widely used in the coordinate positioning of mechanical arms,electro-static paintings,and other industrial applications.However,they exhibit strong nonlinear characteristics,which lead to low servo control accuracy.In this study,a mass-flow equation through the valve port was derived to improve the control performance,considering the characteristics of the dynamics and throttle-hole flow.Subsequently,a fric-tion model combining static,viscous,and Coulomb friction with a zero-velocity interval was proposed.In addition,energy and dynamic models were set for the experimental investigation of the magnetically coupled rodless cylin-der.A nonlinear mathematical model for the position of the magnetically coupled rodless cylinder was proposed.An incremental PID controller was designed for the magnetically coupled rodless cylinder to control this system,and the PID parameters were adjusted online using RBF neural network.The response results of the PID parameters based on the RBF neural network were compared with those of the traditional incremental PID control,which proved the superiority of the optimization control algorithm of the incremental PID parameters based on the RBF neural network servo control system.The experimental results of this model were compared with the simulation results.The average error between the established model and the actual system was 0.005175054(m),which was approximately 2.588%of the total travel length,demonstrating the accuracy of the theoretical model.展开更多
基金Supported by Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems(Grant No.GZKF-202016)Henan Province Science and Technology Key Project of China(Grant No.202102210081)+1 种基金Fundamental Research Funds for Henan Province Colleges and Universities of China(Grant No.NSFRF140120)Doctor Foundation of Henan Polytechnic University of China(Grant No.B2012-101).
文摘This paper introduces a pneumatic finger cylinder servo control system for medical grabbing.First,according to the physical structure of the proportional directional valve and the pneumatic cylinder,the state equation of the gas in the servo system was obtained.The Stribeck friction compensation model of a pneumatic finger cylinder controlled by a proportional valve was established and the experimental platform built.To allow the system output to bet-ter track the change in the input signal,the flow-gain compensation method was adopted.On this basis,a friction compensation control strategy based on a differential evolution algorithm was proposed and applied to the position control system of a pneumatic finger cylinder.Finally,the strategy was compared with the traditional proportional derivative(PD)strategy and that with friction compensation.The experimental results showed that the position accuracy of the finger cylinder position control system can be improved by using the friction compensation strategy based on the differential evolution algorithm to optimize the PD parameters.
基金Supported by Henan Province Science and Technology Key Project of China(Grant Nos.202102210081,202102210082)Fundamental Research Funds for Henan Province Colleges and Universities of China(Grant No.NSFRF140120)Doctor Foundation of Henan Polytechnic University(Grant No.B2012-101).
文摘When saving energy in a pneumatic system,the problem of energy losses is usually solved by reducing the air supply pressure.The power-matching method is applied to optimize the air-supply pressure of the pneumatic system,and the energy-saving effect is verified by experiments.First,the experimental platform of a pneumatic rotary actuator servo-control system is built,and the mechanism of the valve-controlled cylinder system is analyzed.Then,the output power characteristics and load characteristics of the system are derived,and their characteristic curves are drawn.The employed air compressor is considered as a constant-pressure source of a quantitative pump,and the power characteristic of the system is matched.The power source characteristic curve should envelope the output characteristic curve and load characteristic curve.The minimum gas supply pressure obtained by power matching represents the optimal gas supply pressure.The comparative experiments under two different gas supply pressure conditions show that the system under the optimal gas supply pressure can greatly reduce energy losses.
基金The paper is Supported by Henan Province Science and Technology Key Project(Grant No.202102210081)the Fundamental Research Funds for Henan Province Colleges and Universities(Grant No.NSFRF140120)Doctor Foundation of Henan Polytechnic University(Grant No.B2012-101).
文摘In order to improve the position control accuracy of rodless cylinder,the valve control cylinder system based on pneumatic proportional servo is studied deeply.According to the working principle of the mechanical rodless cylinder control system,under the condition of uniform speed,the driving voltage of the proportional valve is changed to measure multiple sets of friction force and corresponding velocity data.Analyzed the physical structure of each component in pneumatic system,established the mathematical model of pneumatic system,and introduced MATLAB system identification toolbox to identify the parameters of the transfer function.and the experiment verifies its correctness.
基金Supported by Outstanding Young Scientists in Beijing of China(Grant No.BJJWZYJH01201910006021)Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems of China(Grant No.GZKF-202016)+2 种基金Henan Provincial Science and Technology Key Project of China(Grant Nos.202102210081,212102210050)Sub Project of Strengthening Key Basic Research Projects in the Basic Plan of the Science and Technology Commission of the Central Military Commission of China(Grant No.2019-JCJQ-ZD-120-13)Henan Provincial Fundamental Research Funds for the Universities of China(Grant No.NSFRF200403).
文摘Magnetically coupled rodless cylinders are widely used in the coordinate positioning of mechanical arms,electro-static paintings,and other industrial applications.However,they exhibit strong nonlinear characteristics,which lead to low servo control accuracy.In this study,a mass-flow equation through the valve port was derived to improve the control performance,considering the characteristics of the dynamics and throttle-hole flow.Subsequently,a fric-tion model combining static,viscous,and Coulomb friction with a zero-velocity interval was proposed.In addition,energy and dynamic models were set for the experimental investigation of the magnetically coupled rodless cylin-der.A nonlinear mathematical model for the position of the magnetically coupled rodless cylinder was proposed.An incremental PID controller was designed for the magnetically coupled rodless cylinder to control this system,and the PID parameters were adjusted online using RBF neural network.The response results of the PID parameters based on the RBF neural network were compared with those of the traditional incremental PID control,which proved the superiority of the optimization control algorithm of the incremental PID parameters based on the RBF neural network servo control system.The experimental results of this model were compared with the simulation results.The average error between the established model and the actual system was 0.005175054(m),which was approximately 2.588%of the total travel length,demonstrating the accuracy of the theoretical model.
