Be based on sheet piece the research of pilot of fixed position of pneumatic position servo of machine and application
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Does E discharge formula have: ? ? of of of storehouse of honest of of Yun of of leech live abroad criterion the area gradient W= of a powerful person! D, h0 is the gap amount of core of slippery a powerful person and apartment of a powerful person, capacity coefficient Cv. K is compress K=1 of index of airy heat insulation.
4. Consider additionally aerate the process is approximate isotherm namely the oversight temperature influence to aeriform density, the density: of gas of knowable air feed? Ignoranting Piao tastes condyle of exacting of persimmon of Qia of of shelfing of U of of Ju of an old name for Japan to fight ? to establish above various, undertake Laplace alternates, is the transfer function that gets a powerful person accuses a crock: ? The null coefficient that air cylinder of street? V- includes a powerful person or family of bulk; C3- also calls discharge gain; C4- pressure - capacity coefficient. The designs this system control block diagram of 3 controller, if pursue,3 are shown. To system of a control, the design of controller is crucial, it undertakes judging to all sorts of things with respect to the cerebra that is equivalent to a person, undertake modulatory controlling thereby. It is the controller that according to classical control theory or basis contemporary control designs theoretically no matter, need to undertake building a model accurately to the system, have to pneumatic system strong nonlinear quality, build a model to simplify, constant oversight the influence of the element such as hot exchange, attrition, it is very difficult still to should build a model accurately to its. And beg solve these equation to need to contrast complex algorithm and many operation. Although be worth the development of computation and computer technology as a result of number, algorithmic complexity and operation quantity already too won't big impact controls rate actually. Contain a lot of parameter that cannot decide in these model equation however, need undertakes begging solution and estimation to these parameter, seek solution these parameter often lack enough information content and news feature, what this restricts a model with respect to huge is accurate with practical. Use intelligent PID, it combines artificial intelligence and automata look, always form the expert's experience a certain number of regulation undertakes be controllinged effectively, and the change of strategy of can online correction control and control parameter with getting used to a process. The input that regards controller as positional deviation E(K) is variable, only deviation a quantity is estimated as control is controller of an one dimension only, the dynamic character; that mirrors controlled object very hard in the round regards the input of controller as variable E(K) of E(K) , Δ accordingly, it is controller of a planar, can the more comprehensive and strict trends that reflects process be accusinged is characteristic, many it is good to because this dominates the result,compare one dimension controller. Outputting variable is control PID pilot each coefficient KP, KI, KD. Does PID control algorithm to be: of increment type algorithm? Jun of Cong radon Song, ! KP of E output variable, KI, KD can be divided into different grade according to spot experience, set its corresponding language is variable, write down: ? ={NB of of noise made in coughing or vomiting of Cong radon Song, NS, z0, PS, is the control regulation that PB} sums up according to the expert's experience as follows: ? Bao (when K) is very big, because error is very big, reason uses Bang- Bang control, control quantity is the biggest eliminate error in order to quicken, achieve stable state to be worth; when E(K) .
Δ when E(K) >0, state output is worth deviate set-point, deviation continues to increase, become when E(K) is bigger, use PI control to eliminate error in order to quicken, when E(K) is lesser, use PID control, eliminate deviation and; of quantity exceeding tone when E(K) .
E(K)<0> becomes Δ E(K) .
Δ when E(K) =0, e(K) =0, express to already achieved set-point, criterion mouth of shut off valve, ≠ of E(K) 0, Δ E(K) =0, control regulation and E(K) .
Δ E(K) >0 is identical. According to expert experience, can get is like expressing 1, watch 2, watch 3, shows control is variable the subject function assignment of KP, KI, KD and E, Δ E is expressed. According to controlling regulation its control a language to be conveyed as follows: IE=NS Then KP=NB And KI=Z0 And KD=Z0 of Δ of E=NB Then KP=NB And KI=Z0 And KD=Z0If E=NB And of Δ of F E=NB And... this control regulation basically is to be based on spot experience of the expert to undertake modulatory, through in the spot debug an experiment, can achieve very good position result. In this experiment, controller is to be based on sheet piece machine and of the design, odd a machine development is simple, cost is lower, the spot is debugged more convenient also. Odd a machine the AT89S52 that chooses ATMEL company, it is a kind of low power comsumption, high-powered and the system contains 8KB but the 8 CMOS microprocessor of memory of process designing Flash, the resolution that supports converter of; A/D of online process designing, D/A all is 12, can satisfy the precision requirement in industrial application. 4 conclusion and application use intelligent PID to control algorithm, solved a tradition to control a method to build accurate maths model hard, appear easily in controlling a process those who exceed tone, lag wait for a phenomenon. Through undertaking the experiment of the spot studies, this pneumatic position servo can achieve very good fixed position precision, and of the system the smallest repeat precision to achieve ± 0.
2mm; control system is used use sheet piece machine, accuse engine control to be compared with labour, cost decreased a lot of, and volume is minor, facilitating application at industrial spot, development is simple, facilitate debug. Pneumatic technology with its clean, environmental protection, energy-saving the applied proportion in waiting for an advantage to be produced in industry now is bigger and bigger. The application of pneumatic position servo is exceedingly wide also. If be on product line of the application of content shedding respect, automation,each are versed in on of component convey accurately to wait with robot of fixed position, pneumatic. CNC Milling CNC Machining