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
李虎山 1孙淼 2王猛 1高有山 1席浩 1郝建楠1
作者信息
- 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
- 折叠
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％.
Abstract
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 con-troller 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 accura-cy and disturbance immunity of the controller were simulated under different working conditions.Finally,the simulation results were fur-ther 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 re-duced by 7.5％.
关键词
位置伺服系统/H∞控制器/非对称缸控制Key words
position servo system/H∞ robust controller/asymmetric cylinder control引用本文复制引用
基金项目
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)
出版年
2024
NETL
NSTL
万方数据