Control of Valve-Controlled Asymmetrical Cylinder Position Servo System Based on H∞ Controller
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％.
position servo systemH∞ robust controllerasymmetric cylinder control
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