【摘要】 电动舵机工作时会受到模型参数摄动和不稳定负载力矩的影响,为解决由不确定性因素引起的控制问题,本文基于信号补偿方法设计了一种电动舵机角度跟踪鲁棒控制器。将舵机模型中的参数摄动和力矩扰动等不确定项作为等价干扰,首先针对受控对象设计标称控制器,在此基础上设计鲁棒补偿控制器以抑制等价干扰的影响,从而实现鲁棒控制。本文所设计的鲁棒控制器可保证舵机系统的角度跟踪误差收敛到原点的有界区域内,且收敛域的大小可通过鲁棒补偿器的参数进行调节。最后,通过仿真和样机实验结果验证了该方法的有效性。更多还原

【Abstract】 The electric actuator can be influenced by the parameter perturbations of model and torque of the unstable load. In order to solve the control problem caused by the uncertainties, a robust controller for an electric actuator is presented based on the signal compensation. Firstly, the parameter perturbations and moment disturbances in the actuator model are assumed as uncertain terms, and a nominal controller is developed for the nominal plant. Subsequently, a robust compensator is added to the nominal controller to reduce the influence of the equivalent disturbance. It is proved that the tracking error of the control system will converge to a bounded region, whose magnitude can be set by the parameters of the robust controller. Finally, the effectiveness of the proposed method is verified by the simulation analysis and prototype testing.更多还原