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Pneumatic proportional valve fuzzy sliding mode self-adaptive control method based on T-S model

A pneumatic proportional valve, sliding mode adaptive technology, applied in the field of T-S model, can solve the problems of low damping characteristics of pneumatic system, difficult to describe the accurate mathematical model of servo device, etc.

Active Publication Date: 2015-04-01
SHANGHAI KEXISI IND EQUIP
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Problems solved by technology

However, due to the inherent compressibility of the gas itself, the non-linear flow of the valve port, the influence of cylinder friction and the low damping characteristics of the pneumatic system, the pneumatic servo system is essentially a nonlinear system, and the precise mathematical model of the entire servo device is difficult. describe

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  • Pneumatic proportional valve fuzzy sliding mode self-adaptive control method based on T-S model
  • Pneumatic proportional valve fuzzy sliding mode self-adaptive control method based on T-S model
  • Pneumatic proportional valve fuzzy sliding mode self-adaptive control method based on T-S model

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[0076] The present invention will be further explained below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of this application.

[0077] The present invention is based on the T-S model. The T-S model was first proposed in 1985. It regards a nonlinear system as the sum of multiple linear subsystems and their weight products, which can be expressed as:

[0078] Rule i: if x 1 For F i 1 , And..., and x k For F i k ,then

[0079] x · = A i x + B i u , i = 1,2 , · · · , m - - - ( 1 )

[0080] In formula (1), x=[x ...

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Abstract

The invention provides a pneumatic proportional valve fuzzy sliding mode self-adaptive control method based on a T-S model. The method is characterized in that the method comprises the following steps: the step 1) carrying out T-S model structure identification; the step 2) identifying T-S model parameters by utilizing a least squares support vector machine; and the step 3) designing a fuzzy self-adaptive controller according to the identified T-S model to carry out control on a pneumatic servosystem so as to enable a controlled object to carry out pressure tracing on given reference signals. According to the method, the pneumatic servosystem is served as a research object, the T-S model of the object is identified through the input / output data, and then, control of the pneumatic servosystem is realized based on the identified model. Compared with an existing PID control method, the control method in the invention allows vibration and overshoot of output pressure of a proportional valve to get smaller obviously, and thus smooth control of the pressure is realized. The control method can be dynamically adaptive to uncertain factors of the controlled object.

Description

Technical field [0001] The invention takes the pneumatic servo system as the research object, uses its input and output data to identify the T-S model of the object, and then realizes the adaptive control of the pneumatic servo system based on the identification model. Background technique [0002] The actual system in nature is basically a nonlinear system. It is quite difficult, sometimes impossible to establish an accurate mathematical model of a complex nonlinear system. System identification is one of the effective ways of system modeling. Therefore, identification is an important and complex problem. Especially, black box identification based on input and output data has become a research hotspot, and it has become a very active and important branch of automatic control theory. The T-S fuzzy model is a general approximator that treats a nonlinear system as the sum of multiple linear subsystems and their weight products. [0003] Pneumatic technology has its own unique transm...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 余锡钱龚升山戴逸民
Owner SHANGHAI KEXISI IND EQUIP
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