基于LMI的H_∞控制在电液力控制系统中的应用

Application of LMI-Based H_∞ controller in electrhydraulic force control system

电液力控制系统中由于柔性负载的存在 ,传递函数的分子中通常含有一个振荡频率很低的二阶微分环节 ,这不仅严重影响系统的频宽 ,而且易使系统特性趋于振荡甚至不稳定 .同时 ,典型的电液力控制系统属于奇异H∞ 问题 ,传统的H∞ 控制算法无法求解该问题 .为了提高系统的频宽 ,获得希望的系统特性 ,结合液压式全自动地震波输入振动三轴装置 (以下简称动三轴 ) ,采用基于线性矩阵不等式 (LMI)的H∞ 控制方法进行求解 ,并给出了控制器的具体推导过程和求解过程 .在文章的最后还给出了动三轴在基于LMI的H∞控制器作用下的仿真结果 .结果表明 ,基于LMI的H∞

There is a two rank oscillation factor in the numerator of transfer function because there exists flexible load in electrohydraulic force control system. It not only limits the system bandwidth, but also causes the oscillation or instability of the system. What's more, classical electrohydraulic force control system is singular H ∞ problem, and traditional H ∞ control algorithm can't solve it. Presents the LMI based H ∞ control algorithm used to improve the system bandwidth and achieve satisfactory characteristics in the automatic hydraulic dynamic triaxial system inputed by seismic waves with the deduce process and solving procedure of controller given and concludes from the simulation results that H ∞ control algorithm based on LMI is very effective for improvement of performance of dynamic triaxial system.