【作者】 聂聆聪； 姚晓先；

【Author】 Nie lingcong~1 Yao xiaoxian~1 (School of Aerospace Science and Engineering Beijing Institute of Technology Beijing 100081 China)

【机构】 北京理工大学宇航科学技术学院；

【摘要】 低压气动伺服系统的结构不确定性,气源压力的波动,负载大小的变化将导致系统数学模型的变化。本文在PWM线性化控制方法的基础上,针对系统的参数不确定性设计了系统的鲁棒控制器,并利用棱边定理,通过验证控制器对六个顶点对象的稳定性证明了在此控制器下系统工作时对所有可能的参数的稳定性。最后验证了在此控制器下当系统的不确定参数在连续变化时对系统的输出不会产生影响,而离散变化的参数可能使系统输出产生小的扰动。更多还原

【Abstract】 The uncertainty of low pressure pneumatic servo system’ structure,the instability of its air supply pressure and the change of its load will lead to change its mathematical model.Base on PWM linear control methods and aim at the parameter uncertainty of the system this paper designed the system’s robust controller, and proved the system’s stability to all possible parameters under the controller by the edge theorem and proving the stability of six points.Under this controller,the system’s output was not affected when the uncertainty parameter changed continuous but it had a little disturbance when the uncertainty parameter changed discontinuous.更多还原