电动转台鲁棒控制系统设计

Robust Control System Design of Electric Table

H∞控制理论是解决不确定性系统综合问题的有效方法。本文以ET301A型电动转台为背景, 详细讨论了H∞混合灵敏度设计中的加权函数选取问题, 给出了相应的选取原则, 并根据该选取原则进行了电动转台混合灵敏度设计, 得到满足系统鲁棒性能的控制器。系统最终调试结果满足系统的性能要求。

H ∞ control theory is an effective method to synthesize the uncertain system. Based on ET301A electric table, the weighting function selection in H ∞ mixed sensitivity design is discussed in details in this paper, and the corresponding selection principles are given. Then mixed sensitivity design of the electric table is performed according to the presented selection principles, and the controller which satisfies the robust performance is obtained. The final experiment results meet the request of system performance, and verify the applicability and effectiveness of this design method.