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Fuzzy sliding mode adaptive control method of pneumatic proportional valve based on t-s model

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

Active Publication Date: 2017-04-05
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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  • Fuzzy sliding mode adaptive control method of pneumatic proportional valve based on t-s model
  • Fuzzy sliding mode adaptive control method of pneumatic proportional valve based on t-s model
  • Fuzzy sliding mode adaptive control method of pneumatic proportional valve based on t-s model

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[0077] Below in conjunction with specific embodiment, further illustrate the present invention. It should be understood that these examples are only used to illustrate the present invention and are not intended 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 the present application.

[0078] The present invention is based on the T-S model, which 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:

[0079] Rule i: if x 1 for and..., and x k for but

[0080]

[0081] In formula (1), x=[x 1 … x k ] is the system state, m is the regular number, if μ ij (x i ) means x i belong The membership func...

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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 self-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 even 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 has become a very active and important branch of automatic control theory. The T-S fuzzy model is a general approximator, which treats a nonlinear system as the sum of multiple linear subsystems and their weight products. [0003] Pneumatic technology has its o...

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Application Information

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Patent Type & Authority Patents(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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