中文摘要：

灵魂旋转位置系统，在哪个电镀物品灵魂比例的流动阀门控制了旋转柱体，被学习，并且它的数学模型被造。模型显示控制灵魂系统与工作的点有象系统参数的固有的非线性和变化那样的劣势。以便改进系统的动态性能，喂前面的赔偿自我调节的杆放置策略被采用在实时，和一个递归的最不方形的方法把系统的杆交给在一个需要的位置忘记因素修理也在参数评价被使用。试验性的结果证明旋转位置系统在 3% 以内的灵魂和识别系统参数罐头的稳定的州的错误在 5 s 被集成。在不同负担下面，控制系统有反骚乱的优秀追踪表演和坚韧性。

英文摘要：

The pneumatic rotary position system, in which an electro-pneumatic proportional flow valve controled a rotary cylinder, was studied, and its mathematical model was built. The model indicated that the controlled pneumatic system had disadvantages such as inherent non-linearity and variations of system parameters with working points. In order to improve the dynamic performance of the system, feed forward compensation self-tuning pole-placement strategy was adopted to place the poles of the system in a desired position in real time, and a recursive least square method with fixed forgetting factors was also used in the parameter estimation. Experimental results show that the steady state error of the pneumatic rotary position system is within 3% and the identified system parameters can be converged in 5 s. Under different loads, the controlled system has an excellent tracking performance and robustness of anti-disturbance.