【摘要】 针对直驱式电液伺服转叶舵机转动惯量大、时变不确定、水动力负载复杂的特点,提出了一种带有负载力矩观测补偿器的定量反馈理论鲁棒控制器的设计方案。在不考虑负载波动的前提下,解决了直驱式电液伺服转叶舵机由于系统的不确定性和存在干扰而不能准确控制的问题,有效降低了控制器设计的难度。同时,引入负载力矩动态观测补偿方法,对负载力矩进行动态实时补偿,有效提高了控制器的刚度和响应速度。试验结果表明:该控制器能有效地提高直驱式电液伺服转叶舵机的控制精度和稳态误差,具有良好的动态性能和鲁棒性。更多还原

【Abstract】 A design scheme was proposed for the quantitative feedback robust controller with the load torque observer and compensator to mitigate the shortcomings of the direct drive electro-hydroulic servo rotary vane steering gear(DDEHSRVSG),the high rotary inertia,the servo time-varying uncertainty,and the complex hydrodynamic load torque.The problem that the DDEHSRVSG can not control accurately because of the system uncertainty and the disturbance was resolved without consideration of the load fluctuation,and the difficulty in controller design was alleviated.The dynamic observation and compensation were introduced for the load torque to enhance the stiffness and response speed of the controller.The test results showed that the proposed controller enhances the control accuracy and reduces static error of the DDEHSRVSG,being characterized by good dynamic behavior and robustness.更多还原