基于H_(∞)控制器的阀控非对称缸位置伺服系统控制  

Control of Valve-Controlled Asymmetrical Cylinder Position Servo System Based on H_(∞)Controller

作　　者：李虎山 孙淼 王猛[1] 高有山[1] 席浩 郝建楠 LI Hushan;SUN Miao;WANG Meng;GAO Youshan;XI Hao;HAO Jiannan(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China;Taiyuan Heavy Industries Co.,Ltd.,Taiyuan Shanxi 030024,China)

机构地区：[1]太原科技大学机械工程学院,山西太原030024 [2]太原重工股份有限公司,山西太原030024

出　　处：《机床与液压》2024年第14期7-13,共7页Machine Tool & Hydraulics

基　　金：山西省自然科学基金项目(20210302123217);山西省回国留学人员科研项目(2020-124);山西省专利推广实施资助专项(20171064);太原科技大学研究生创新项目(BY2022012)。

摘　　要：以阀控非对称缸位置伺服系统为研究对象,建立其数学模型;针对负载突变及油液弹性模量变化提出了H∞鲁棒控制方法,从频域上分析了控制器对系统动态性能和稳态性能的影响。采用AMESim和MATLAB/Simulink搭建了阀控非对称缸位置伺服系统的联合仿真模型,对不同工况下控制器的跟踪精度及抗扰能力进行仿真研究。最后,通过油缸加载实验测试平台对仿真结果进行进一步验证。结果表明:所设计的H∞控制器提高了系统的快速性和鲁棒性,相比于PID控制下系统正弦响应结果,H∞控制器的最大跟踪误差在无负载工况下降低了48.8%,在负载突变工况下降低了56.25%;同时阶跃响应时间缩短了7.5%。Taking the valve controlled asymmetric cylinder position servo system as the research object,its mathematical model was established.A H∞robust control method was proposed for load mutation and oil elastic modulus variation,and the influence of the controller on the dynamic and steady-state performance of the system was analyzed from the frequency domain.The co-simulation model of the valve-controlled asymmetric cylinder position servo system was built by AMESim and MATLAB/Simulink,and the tracking accuracy and disturbance immunity of the controller were simulated under different working conditions.Finally,the simulation results were further verified by the cylinder loading test platform.The experimental results show that the designed H∞controller improves the rapidity and robustness of the system.Compared with the sinusoidal response results under PID control,the maximum tracking error of the H_(∞)controller is reduced by 48.8%under no load condition and 56.25%under load mutation condition.The step response time is also reduced by 7.5%.

关 键 词：位置伺服系统 H∞控制器 非对称缸控制 

分 类 号：TH137[机械工程—机械制造及自动化]