提升机主传动系统鲁棒控制器解析设计

Analytical Robust Controller Design for Mine Hoist Driving System

针对提升机主传动轴系在外部扰动作用下出现的低频扭振失稳现象,根据闭环系统稳定性约束以及抑制干扰对H∞灵敏度函数的要求,解析地推导出扭振抑制鲁棒控制器,求得控制器结构简单并能实现单参数整定,可综合系统抑制扰动和驱动端超调量2方面性能确定控制器参数,并且当对象模型不确定时,该控制器能保证闭环系统具有良好的鲁棒稳定性。

In order to suppress the torsional vibration of mine hoist, a robust controller was analytically derived, based on stability of the closed loop system and H∞ mixed sensitivity function. The controller was simple and a single parameter was included in the controller, and it can be determined by the performance of suppressing the disturbance and overshot, the robust of the system had strong robust performance.