A control algorithm combining feedforward hysteresis compensation based on Prandtl-Ishlinskii(P-I)inverse model and fuzzy PID was proposed to reduce the influence of clamping force/pressure hysteresis on a pneumatic actuator and improve the clamping force tracking control accuracy.The clamping force/pressure hysteresis characteristics of the pneumatic actuator were analyzed.The hysteresis model parameters were identified by the initial load curve method to establish P-I inverse model.A fuzzy PID control al-gorithm based on FBG force sensing was designed.The clamping force feedback was realized based on the self-made FBG sensor.The static characteristics of the sensors were verified by calibration experiment.Furthermore,a compound controller combined with feedfor-ward compensation and fuzzy PID fused with FBG force sensing was constructed to complete the simulation comparison with the tradi-tional PID and fuzzy PID controller of clamping force control in Simulink.Simulation results show that feedforward hysteresis compensa-tion can reduce steady-state error and improve control accuracy.Finally,the dynamic tracking experiment was carried out on the pneu-matic actuator clamping force control experimental platform.The effectiveness of the designed composite controller was verified.
关键词
气动执行器/迟滞补偿/模糊PID控制/FBG力感知
Key words
pneumatic actuator/hysteresis compensation/fuzzy PID control/FBG force sensing
维普
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