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。
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.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
1995年第3期85-89,共5页
Transactions of the Chinese Society for Agricultural Machinery
