【作者】 罗璟； 赵克定； 许宏光；

【Author】 Luojing,Zhao Keding Li Geqiang (College of Mechanical and Electrical Engineering,Harbin Institute of Technology,Harbin 150001)

【机构】 哈尔滨工业大学机电工程学院；

【摘要】 将电液负载模拟器中的多余力矩视为外干扰,并考虑各种不确定性的影响,采用基于H∞鲁棒控制理论的方法设计了鲁棒控制器．同时,采用该控制器针对系统存在参数变动、高阶未建模动态及外干扰等不同工况时的特性进行了仿真研究以及系统动静态特性的实验研究。仿真和实验结果表明,在该控制器的作用下,系统不仅很好地实现了动态跟踪性能而且表现出良好的鲁棒性。系统的性能指标达到幅值误差小于±10％及相位滞后小于10°时的有扰闭环频宽为10Hz。更多还原

【Abstract】 H-infinity (H∞) robust control theory are applied in designing a controller with regarding surplus torque as disturbance and considering various system uncertainties. Simulation works of system characteristic are finished using such a controller with various uncertainties, and some experiments of static and dynamic characteristics of system also are proceed. Simulation and experimental results show that the controller not only works well for various dynamic set-point load, but reveals insensitive to the variation of parameters which change with work condition, to the unmodelled dynamics and disturbance. The controller provides sufficient stability and performance robustness to the system. The disturbed closed-loop bandwidth of system reached at 10Hz which assures the error of amplitude less than ±10% and the lag of phase less than 10°.更多还原