高空作业车电液伺服关节H∞鲁棒控制器设计

Aerial Vehicle Electro-hydraulic Servo Joint H_∞ Robust Controller Design

针对高空作业车在提升不同质量的货物以及提升货物过程中电液伺服俯仰机构的力负载变化引起的系统难以控制的问题,提出了综合传统PID与H_∞控制的复合控制方案。推导了电液伺服俯仰机构的状态空间模型,在此基础上设计了H_∞状态反馈控制器,包括定义性能评价指标、构建广义系统、利用线性矩阵不等式求解状态反馈阵。应用Simulation X环境下建立的集机、液、控一体的高空作业车模型进行仿真研究,结果表明:提升不同质量的负载时高空作业车都能稳定运行。

In view of the problems that the high altitude operating vehicle is difficult to be controlled in the process of lifting the different weight of cargo and lifting goods, and caused by variable loading force of pitch mechanism of the electro hydraulic servo, an integrated traditional proportion integration differential （PID） and H∞ infinity control of the composite control scheme was presented.The state space model of electro hydraulic servo pitch mechanism was derived, and on the basis of it, the infinity state feedbackcontroller was designed, including the definition of performance evaluation indicators, construction of generalized system, using linear matrix inequalities to solve the state feedback matrix. SimulationX environment was applied to build a set of machine, liquid and control integrated simulation model for simulation research. The results show that to lift the load of different weight, aerial vehicles can operate stably.