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针对本质防爆的要求，提出长气管气动马达速度控制系统，建立了系统模型；并对该系统的主要特征———非线性饱和延迟进行了根轨迹分析、史密斯预估器控制的稳定判断及描述函数法的分析．分析结果表明，延迟对该系统的稳定性影响最大，因而系统控制器的设计必须考虑到这个因素
In view of the requirement of intrinsic explosion-proof, a long-pipe pneumatic motor speed control system is proposed and a system model is established. The root locus analysis of the main characteristic of the system, such as nonlinear saturation delay, stable judgment and description of Smith predictor control Function law analysis. The analysis results show that the delay has the greatest impact on the stability of the system. Therefore, the design of the system controller must take this factor into account