| 鲁棒控制器用于挤奶气动驱动机构的研究 |
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| 引用本文： | 周云山 宋传学. 鲁棒控制器用于挤奶气动驱动机构的研究[J]. 农业机械学报, 1995, 26(3): 85-89 |
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| 作者姓名： | 周云山 宋传学 |
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| 作者单位： | 吉林工业大学汽车学院，吉林工业大学理科部，吉林工业大学农机学院 |
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| 摘 要： | 讨论挤奶机械手气动驱动机构控制器的设计和用Ｈ＾∞理论进行鲁棒控制器的设计步骤和权函数的选择。把所设计的控制器用于气动驱动机构的实时控制，结果证实：鲁棒控制器对改变驱动机构的质量负载和系统的阻尼都具有良好的鲁棒性能。
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| 关 键 词： | 控制器 气动控制 驱动机构 挤奶机械手 |
RESEARCH ON ROBUST CONTROLLER IN APPLICATION OF PNEUMATIC ACTUATORS FOR A MILKING ROBOT |
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| Zhou Yunshan Song Chuanxue Gao Wensen Wang Rongben. RESEARCH ON ROBUST CONTROLLER IN APPLICATION OF PNEUMATIC ACTUATORS FOR A MILKING ROBOT[J]. Transactions of the Chinese Society for Agricultural Machinery, 1995, 26(3): 85-89 |
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| Authors: | Zhou Yunshan Song Chuanxue Gao Wensen Wang Rongben |
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| Affiliation: | Jilin University of Technology |
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| Abstract: | The paper discusses the controller design for the pneumatic actuators of a milkingrobot, the emphasis is placed on the robust controller design procedures and the choice ofweighting functions using H-Infinity theory. Finally,the designed robust controller is usedfor real-time control of a pneumatic actuator, the experimental results show that this con-troller has better robust performance than classical PID controller when the mass load andthe cylinder damping of pneumatic actuators change. |
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| Keywords: | Controller Pneumatic control Drive mechanism Robot |
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