无模型控制器在气缸压力控制系统中的应用研究

气动伺服系统存在纯时延、非线性、时变等特点，传统的控制策略(如PID控制)在解决非线性系统时效果不理想，因此提出一种无模型控制算法。此方法在被控对象结构复杂、参数时变时控制效果较好。首先对气动伺服系统进行建模，建模过程包括阀口流量、比例流量阀及缸内压力建立一个二阶模型；其次设计无模型自适应控制器(Model-Free Adaptive Controller，MFAC)用于气动伺服系统压力控制；最后利用LabWindows/CVI平台进行试验验证。结果表明，针对气动伺服系统设计的无模型控制器是有效的，相比于传统PID控制有更快的响应速度和更高的控制精度。

Model-free Adaptive Controller and Its application in Cylinder Pressure Control System

A pneumatic servo system has characteristics of pure delay, nonlinearity, time-varying, etc. A model-free control algorithm is proposed, because the traditional control strategy such as PID control is not ideal for solving nonlinear systems. The control effect is better when the controlled object has a complex structure and time-varying parameters. Firstly, a pneumatic servo system is modeled. The modeling process includes valve port flow, proportional flow valve and in-cylinder pressure, and we establish a roughly accurate second-order model. Secondly, a model-free adaptive controller is designed for pressure control of a pneumatic servo system. Finally, the Labwindows/CVI platform is used for experiment verification. The results show that the model-free adaptive controller designed for pneumatic servo system is effective and has faster response speed and higher control accuracy than traditional PID control.