气动系统力的研究

摘要

气动元器件的低成本和低污染一直吸引着工程设计人员和科研工作者的注意力。但是将气动执行器（气缸或气马达）的输出作为可控的力或力矩目前还是一种挑战。本文重点介绍了一组输出为功的控制方程。由于功是力和位移的乘积，因而通过精确的位移测量和理想的控制将会有效地控制力。%The low cost and pollution of pneumatic compo⁃nents is attractive in our research and practise. However, it is a chal⁃lenge to control the force or torque of pneumatic actuator (cylinder or motor).This paper proposes a control algorithm of the work of actuator mainly. The work is the multiplication of the actuator force and the piston’s displacement, so the actuator force can be effective⁃ly controlled through robust control of the actuator’s work and pre⁃cise measurement of the piston’s displacement.