电液伺服加载系统H∞鲁棒控制研究  

Research on H∞Robust Control of Electro-hydraulic Servo Loading System

作　　者：张宏宇 李振辉[1] 陈明颖 张大舜[3] 张洪明 ZHANG Hongyu;LI Zhenhui;CHEN Mingying;ZHANG Dashun;ZHANG Hongming(College of Mechanical and Electrical Engineering,Changchun University of Technology,Changchun 130022,China;Department of Electrical and Mechanical Engineering,Heilongjiang Oriental University,Harbin 150066,China;China North Industry Group Fifth Research Institute,Changchun 130000,China;Inner Mongolia First Machinery Group Co.,Ltd.,Baotou 014000,China)

机构地区：[1]长春理工大学机电工程学院,长春130022 [2]黑龙江东方学院机电工程学部,哈尔滨150066 [3]中国兵器工业集团第五五研究所,长春130000 [4]内蒙古第一机械集团股份有限公司,内蒙古包头014000

出　　处：《机械工程师》2020年第10期26-30,34,共6页Mechanical Engineer

基　　金：吉林省科技发展计划项目(20190302038GX)。

摘　　要：电液伺服加载系统是高频响高精度系统,在其工作过程中所产生的参数输入饱和、伺服阀开口方向切换、摩擦、阀芯重叠等不确定因素会导致系统存在不连续和不平滑等特性,进而对系统的精度及稳定性造成影响。文中主要针对光学瞄具电液模拟伺服系统中存在参数不确定性的问题,对系统进行理论分析,设计一种基于混合灵敏度的H∞鲁棒控制器,通过对加入控制器后的系统进行模拟仿真获取系统输出结果,有效地验证了这种控制方法满足系统性能要求,实际仿真结果表明,使用鲁棒自适应阻抗控制方法可以有效地提高系统响应速度和跟踪精度,系统响应时间提高了3 s,误差减小了9%,稳定性也有所提高。再利用已有的实验设备对所设计的鲁棒控制进行验证,实验结果表明,H∞鲁棒控制下的模拟加载系统具有很高程度的真实环境模拟能力。Electro-hydraulic servo loading system is a high-frequency response and high-precision system.uncertain factors such as parameter input saturation,servo valve opening direction switching,friction,valve core overlap generated in the working process of the system will cause the system to have discontinuous and unsmooth characteristics,thus affecting the accuracy and stability of the system.To solve the problem of parameter uncertainty in electro-hydraulic analog servo system of optical sight,this paper carries out theoretical analysis of the system,and designs a H∞robust controller based on mixed sensitivity.The output of the system is obtained through simulation of the system after adding the controller,which effectively verifies that the control method meets the system performance requirements.The real simulation results show that the robust adaptive impedance control method can effectively improve the response speed and tracking accuracy of the system,the response time of the system is increased by 3 s,the error is reduced by 9%,and the stability is also improved.The designed robust control is verified by the existing experimental equipment.The experimental results show that the simulation loading system under H∞robust control has a high degree of real environment simulation capability.

关 键 词：电液伺服加载系统 H∞混合灵敏度 鲁棒控制 

分 类 号：TH137[机械工程—机械制造及自动化]