三轴液压转台系统最优控制

Optimal Control of Hydraulic Flight Simulation Turntable System

三轴液压转台系统的核心是阀控马达伺服机构，由于其负载惯量大，固有频率较低，采用经典控制理论设计的控制系统难以获得满意的响应特性和控制精度。以转台外框为例建立了转台液压系统的数学模型，应用最优控制理论，获得了使线性二次型性能指标为极小的最优控制规律。数字仿真结果和以该控制规律为依据设计的数模混合控制器进行的试验结果均表明，最优控制规津不仅有效地改善了转台的稳定性，而且提高了转台的响应速度和控制精度。由于选用了无限时域的性能指标函数，获得的最优控制规律为一线性状态反馈，因此该方法在工程上容易实现，有实用价值。

The kernel of a three-axis flight simulation turntable is valve-motor hydraulic servomechanisms. Due to the large inertia and the low natural frequency,the control system designed by the classical control theory cannot get a satisfied characteristics of dynamic response and steady-state accuracy. A mathematical model of the hydraulic turntable system was modelled,and by means of modern control theory, an optimal control law was developed with the quadratic performance index of linear systems. The results of simulations and experiments show that the performence of the turntable using the optimal control low in both dynamic response and steady-state accuracy has been improved. Implementation in the engineering applications has been achieved successfully.