基于气动机械手夹持力系统的H_∞控制器设计

Design of H_∞ Controller for Clamping Force System of Pneumatic Manipulator

介绍气动机械手夹持力控制系统的工作原理,建立气动机械手夹持力控制系统的数学模型;针对目前机械手夹持力控制的各种不确定性因素,设计了H∞混合灵敏度控制器,并对其控制效果进行仿真分析。结果证明:控制器能够满足设计需要,并具有灵活的扩展性。

The working principle of clamping force control system of a pneumatic manipulator was introduced. Its mathematical model was established. Because there were a variety of uncertain factors on control system of pneumatic manipulator clamping force, a H∞ mixed sensitivity controller was designed and a simulation for its control effect was made. The results indicate that the controller can meet the requirements and has flexible scalability.