基于磁流变液的气动伺服控制系统的研究-控制科学与工程专业论文.docxVIP

AbstracfAbstract Abstracf Abstract Conventional pneumatic servo system has its lnherent shortcomings of air’s condensability and low viscosity，which induce nonlineadty，low natural frequency and small damping ratio．So it is hard to improve positioning accuracy，stiffness and frequency response．MR fluid is a kind of intelligent material and when exposed to a magnetic field it has the ability to change from free·flowing linear viscous liquids to semi—solids，which have controllable yield strength in milliseconds．So it has a good performance of high yield stress that is proportional to the reinforcement of magnetic density．The continuous，inverse and easy·controllable characters of MR fluid make it a simple，quiet and fasbresponse mid device used in electrical control system and mechanical system，It is an ideal intelligent actuator． The paper introduces the ways of driving motion，the characters of pneumatic system and the development in the field of MR fluid．The paper introduces a new construction of pneumatic servo system with MR，which can get OVer pneumatic system’S inherent shortcomings of low·stiffness and hard-to—contr01．And the paper gives the control algorithm called‘‘Bang-Bang control and Fuzzy control to set the parameters of PID controller with Changeable rules，which can get the beaer performance in the system． And complete the software and hardware work in this system and do the experiment．The results of experiments identify the availability of the algorithm． Key word：MR Fluid Pneumatic Servo System Bang-Bang Fuzzy Control This research is financially supported by Ministry of Education of China(No． 01074)and Engineering Development Fund ofTongji University． 声 声 明 本人郑重声明：本论文是在导师的指导下，独立进行研究工作所取 得的成果，撰写成硕士学位论文《基于磁流变液的气动伺服控制系统的 研究》，除论文中已经注明引用的内容外，对论文的研究做出重要贡献 的个人和集体，均已在文中以明确方式标明。本论文中不包含任何未加 明确注明的其它个人或集体已经公开发表或未公开发表的成果。 本声明的法律责任由本人承担。 学位论文作者签名： 夏易】冬 2005年3月1日 第l市绪论第1章绪论 第l市绪论 第1章绪论 1．1传动方式的介绍 任何完善的机器设备都由原动机、传动与控制机构和工作机构三部分组成。机 器的传动系统包括机械传动、电气传动、流体传动等 ，其中流体传动可分为气压 传动和