【作者】 卜劭华；

【导师】 方一鸣；

【作者基本信息】 燕山大学 ， 控制理论与控制工程， 2002， 硕士

【摘要】 本课题针对我校实验室结晶器连铸装置，将鲁棒控制理论应用于液压驱动伺服位置环系统的研究开发。参数摄动和外干扰引起的不确定性是液压伺服系统难以解决的棘手问题，鲁棒控制通过设计一个结构和参数均不变的控制器使得系统即使在不确定性处于最大界即系统处于最劣条件下仍然能够保证良好的快速性和稳态性能。因此，本文采用鲁棒控制来研究液压伺服驱动位置控制系统是有很强的实际意义的。 本文首先对连铸结晶器位置系统的数学模型进行了理论分析，并利用1250频率特性测试仪对其模型进行了实际测试，分析实测得到的频率特性曲线从而得出实际的数学模型表达式。在对鲁棒控制理论的特点和应用情况等进行概述的基础上，详细地介绍了输出端H_∞混合灵敏度鲁棒控制理论及其加权函数阵的选取规则，μ综合控制理论，处理加权函数阵具有虚轴极点的所谓扩展H_∞鲁棒控制理论。针对本课题的实际情况，本文给出了多种有效的鲁棒控制方法，在建立的实测数学模型基础上，考虑了系统具有参数摄动、未建模动态和存在输入端外负载干扰情况下，设计了鲁棒控制器并进行了仿真研究。 通过对控制策略和仿真结果的分析，本文给出的鲁棒控制策略具有较好的动静态性能，在系统参数摄动和存在扰动的情况下，依然能够保证系统取得很好的响应性能和跟踪精度，证明了控制策略的可行性。而且经降阶后的鲁棒控制器用模拟量系统或计算机均可实现，具有较大的工程应用价值。更多还原

【Abstract】 Based on the continuous casting device in the laboratory of our school, the theory of robust control is applied to position loop system driven by hydraulic servo. It is difficult for a hydraulic servo system to solve the problem of the uncertainties caused by the parameter variety and disturbance. Robust control theory can design a controller whose structure and parameters is unchanged when the controlled system is under the worst conditions, making the closed loop system maintain the performance with uncertainties produced by parameters uncertainty and load disturbance. Therefore, it is very practical to do the research to apply robust control to this system.According to the theoretical analysis of the frequency graph tested by 1250 frequency detector, the mathematical model can be deduced. On the basis of the summary of the characteristics and applications of robust control theory, Ha mixed sensitivity control theory and the regular of choosing the weighting functions, Hn~fi synthesis and the so called extended H?theory are presented in particular. Aiming at the real condition, for effective and forthright robust controller are formulated. Considering the presence of the uncertainties of parameter variety and disturbance, the computer simulation on the basis of the tested mathematical model has been carried on.The study of the control strategies and the results of simulation have proved that these robust controllers have good control abilities both in the dynamic and static state. With the parameter variety, unmodelled dynamic and load disturbance, the controllers can still guarantee the excellent response performance and control accuracy, which proves the feasibility of these control methods. In addition, controllers by model reduction can be realized with simulator or digital system, So they have significant practical value.更多还原