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讨论了比例方向阀控气动缸动力机构建模问题 .采用工作点线性化方法建立了动力机构的四阶模型 ,对位置系统和力系统推导了它的状态空间和传递函数形式 .气缸两腔的压力动态存在差异 ,并且这个差异导致无法使用负载压降这个中间变量 .基于气动系统的这个特点 ,本文没有导出负载压降 ,而是直接从两腔压力微分方程的一阶偏微分推导出系统模型 ,所得模型正确反映了气压伺服系统的特性 .并研究了平衡点附近系统模型参数的获取问题 ,为定量分析打下基础 .
The modeling problem of proportional directional valve controlled pneumatic cylinder dynamic mechanism is discussed.The fourth order model of dynamic mechanism is established by using the working point linearization method and its state space and transfer function form are derived for the position system and the force system.The two- The difference in pressure dynamics leads to the inability to use the intermediate variable of load pressure drop.Based on this feature of the pneumatic system, this paper does not derive the load pressure drop but derives the system model directly from the first-order partial differential of two-chamber pressure differential equation , The model obtained correctly reflects the characteristics of the pressure servo system, and the acquisition of system model parameters in the vicinity of the equilibrium point is studied, laying a foundation for quantitative analysis.