【摘要】 针对具有时变柔性负载的电液力控制系统设计了 Ｇａｉｎ－ Ｓｈｅｄｕｌｅｄ Ｈ_∞控制器。 Ｇａｉｎ－ Ｓｈｃｈｅｄｕｌｅｄ Ｈ_∞控制适用于状态空间矩阵是时变参数的线性函数的慢时变系统。其控制器的形式可根据时变参数的变化实时地进行调节，以满足不同时刻系统的性能要求。将该方法应用到了液压式全自动地震波输入振动三轴装置中（以下简称动三轴）。仿真结果表明Ｇａｉｎ一Ｓｃｈｅｄｕｌｅｄ　Ｈ_∞控制方法对改善负载参数变化较大的动三轴的性能是非常有效的。更多还原

【Abstract】 Gain - scheduled H_∞ controller is designed for electrohydraulic force servo system with time - varying flexible load. Gain - scheduled H_∞ control requires that system state - space matrices depend affinely on the vector of time - varying parameters, and the system is a slow time -- varying one. The form of gain- scheduled H. controller can be conditioned by real- time value of these parameters in order to satisfy the requirement performance of different time. The methodology presented is applied in hydraulic automatic cyclic triaxial equipment with earthquake wave input (cyclic triaxial). The simulation results show the validity on improving the performance of cyclic triaxial with large parameter- varying load.更多还原