【作者】 王经甫； 叶正茂； 李洪人； 崔浏；

【Author】 Wang Jingfu, Ye Zhengmao, Li Hongren,Cui Liu School 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】 电液负载模拟器加载系统中结构参数存在着不确定性因素,针对传统的经典控制理论设计出的控制器对数学模型依赖性较强、鲁棒性差的缺点,通过选择适当的权函数,利用混合灵敏度的方法设计并用基于线性矩阵不等式的算法求解鲁棒控制器。通过实验验证了该控制器在不同弹簧刚度时,仍能满足系统的鲁棒稳定和鲁棒性能条件;在被动加载时结合结构不变性原理能有效抑制多余力,提高被动加载的性能。更多还原

【Abstract】 Because some parameters are uncertain in loading system of electro-hydraulic load simulator, the controller designed by classical control theory has disadvantages such as dependency on model and weak robustness. Robust controller is designed by mixed sensitivity H∞ approach through choosing suitable weighted functions. It’s solved through linear matrix inequality algorithm. It’s testified by experiments that robust controller can satisfy robust stability and robust performance when spring stiffness changes. It also can eliminate superfluous force and improve passive loading performance with compensation of structure invariance principle.更多还原