Research On Control Strategy For Flexible Pneumatic Torsion Joint

Because of the great compressibility and low viscosity of air, pneumatic servo systems are of high non-linearity, low nature frequency, low stiffness and low damping ratio, so pneumatic servo technology developed slowly. With the development of science and technology, new methods have been applied to pneumatic servo system, which makes it possible to solve the problems exist in these systems. A new kind flexible pneumatic torsion joint is researched in this thesis, and this research is financially supported by projects "Province Natural Science Foundation (Y104358)".The whole thesis contains six chapters.Firstly, the latest developments of pneumatic techniques and pneumatic actuators are summarized. The research and applications of control technology in these fields are expounded, and the main contents of this thesis are depicted.Chapter 2 introduces the flexible pneumatic torsion joint and its...