基于结构化奇异值设计方法的液压操纵负荷系统鲁棒控制

Structured singular value-synthesis based robust control of hydraulic control loading system

针对采用PID控制器控制液压操纵负荷系统存在系统握杆稳定性及平滑性不好的缺点,设计了一种基于结构化奇异值设计方法的鲁棒控制器,并将两种控制进行了对比实验。结果表明,本文设计的鲁棒控制器有效地提高了系统的握杆稳定性及平滑性。

As a typical uncertain system with several independent perturbation blocks, the hydraulic control loading system （HCLS） is characterized by unsatisfactory column-hold stability and smoothness with the application of the classic PID controller. To overcome this shortcoming, a robust controller was developed based on u-synthesis. Compared to the classic PID controller experimentally, the robust controller could improve the column-hold stability and smoothness of the HCLS.