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Study on a Pneumatic Manipulator Clamping Force Control System Based on H ∞ Control Theory

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Tutor: YuanRuiBo
School: Kunming University of Science and Technology
Course: Mechanical Design and Theory
Keywords: pneumatic manipulator,robust control,mixed sensitivity,clamping force control
CLC: TP241
Type: Master's thesis
Year:  2011
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Abstract:
Pneumatic Manipulator with simple structure, clean, reliable, transmission speed high, easy maintenance and a series of significant advantages, are widely used in industrial automation. Pneumatic Manipulator clamping force control is an important aspect of pneumatic manipulator precision control. During completing the capture, assembly, and many other operations, the control precision requirement of pneumatic manipulator clamping force is higher. Therefore, the clamping force of pneumatic manipulator control system is of great significance.In this paper, based on access to domestic and foreign literature, the pneumatics, pneumatic servo technology and the development of robot control strategies profile are summed up.In this paper, a pneumatic rotary retractable finger as the research object, the composition structure and working principle of the pneumatic manipulator clamping force control system are introduced.Based on the rationalization of assumptions and the approximations of linear process, the pneumatic manipulator clamping force control system model is established. the frequency domain characteristics of Pneumatic manipulator clamping force control system’s open loop transfer function are analyzed by MATLAB software.In this paper, the basic concepts and theories of robust control and the control theory based on the mixed sensitivity design method of H∞robust controller are introduced, the idea of applying robust controller to pneumatic Manipulator clamping force control system was proposed, and the principle of selecting the weighting function and the LMI solution method were given.The uncertainty of pneumatic Manipulator clamping force control system and its influence were analyzed. The Hoo mixed sensitivity controller for pneumatic manipulator clamping force control system was designed and solved. Through the simulation of joined and not joined the mixed sensitivity controller, the analysis and comparison of simulation results can be seen the mixed-sensitivity controller make the system have better robustness and control effect in the response of speed and stability.Finally, the study of pneumatic Manipulator clamping force control system is summarized and the focus and direction of the research at a later time are proposed.
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