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中文摘要：
基于自主研发的M对（核磁共振成像）导航针刺手术机器人，搭建了机器人气动控制系统．建立了开关阀控气缸、气缸摩擦力及长气管等数学模型，设计了模糊PID（比例-积分-微分）控制器，并在此基础上进行了PWM（脉宽调制）信号的线性分解．模拟仿真和实验验证结果均表明模糊PID控制器对系统具有较高的位置控制精度及轨迹跟踪能力．结合机器人进行针刺精度实验，结果显示针刺精度误差为0．79mm，满足精度要求．
英文摘要：
Based on the analysis of the independently developed MRI-guided needle-penetrating robot, a pneumatic control system is designed. The on/off valve-cylinder model, cylinder friction model and long transmission lines model are established. Then, a fuzzy PID （proportional-integral-derivative） controller is designed, and PWM （pulse width modulation） signal is decomposed linearly. Simulation and experimental results indicate that the controller is effective in both position control and trajectory tracking. The controller is implemented on the robot to verify the needle precision, and the results show that the error of needle penetration is 0.79 mm, which meets the accuracy requirement.
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