液压伺服驱动位置控制系统的鲁棒性能设计

Robust Performance Design of the Position System Driven by Hydraulic Servo

针对液压伺服驱动连铸结晶器位置环控制对象,实测了其对数幅频特性,并拟合得到被控对象的较准确的数学模型。考虑伺服系统的干扰来自被控对象输入端,而且系统存在高频未建模动态和参数时变性、不确定性,文章采用μ综合的方法,设计了其降阶鲁棒控制器。仿真结果表明,所设计的控制器使闭环系统对输入端的干扰有较强的抑制能力,系统也很好地跟踪了10 Hz的正弦输入信号,达到了期望性能。

The log magnitude characteristic of the hydraulic servo driving position control system is tested. Then a model expression, a system expressed by which has characters very similar to the controlled plant is made out. Because there are parameters uncertainty and unmodeled dynamics as well as input disturbance in the controlled system, a lower-order robust controller is designed with the method of m-synthesis. The simulation results show that the designed controller makes the output of closed loop system can track a sine wave of 10 Hz very well, the system has a expected performance and a good restraint for the disturbance of the input.