中文摘要：

针对长气管的时滞特性问题，进行了基于滑模控制的具有长气管的比例阀控气缸位移伺服控制系统的特性研究。在建立比例阀控气缸系统、气缸摩擦力及长气管的数学模型的基础上，采用线性化方法，对系统模型进行线性化，并在此基础上建立了滑模控制器。结合Matlab／Simulink进行了系统仿真，结果表明滑模控制能使该系统具有较高的控制精度及轨迹跟踪能力，且对气管长度及负载重量等系统参数的变化在较大范围具有较强的鲁棒性。最后，结合自主研发的具有长气管的气动核磁兼容针刺手术机器人，对该控制器进行了实验验证，实验结果表明其控制性能良好且具有较高控制精度。

英文摘要：

The characteristics of a pneumatic cylinder position servo control system were investigated. This kind of systern was controlled by proportional valves and a sliding-mode control algorithm. The delayed effect of the long air hose was considered. The system model was built, which was composed of the three models of pneumatic cylinder con- trol, friction of pneumatic cylinder, and long air hose. Based on the linearization of the model, a sliding-mode con- troller was designed. The controller simulation was carried out using Matlab/Simulink, and the results indicated that during the variation of the length of the air hose and the load mass of the system, the sliding mode controller had the ability of high control precision, good trajectory tracking stability in a large range. Finally, the experimen- tal validation was conducted with a pneumatic cylinder-actuated magnetic resonance （MR） compatible robot with long air hose, which was invented by this research team. The results showed that the controller could achieve good control performance and high control precision.