阀控非对称缸非线性系统高精度位置跟踪鲁棒控制研究

针对阀控非对称缸电液位置伺服系统的非线性和不确定因素,采用试验方法建立了等效的线性不确定模型,并在理论线性化模型的基础上确定了抗负载干扰指标,设计了定量反馈(QFT)鲁棒控制器。在发现相位误差较大的情况下,采用零相差跟踪控制器代替前置滤波器,并用设计的零相移低通滤波器来抑制零相差跟踪控制器的高频增益。试验结果证明:改进后的定量反馈控制能够获得更高的曲线跟踪精度。

Research on High-performance Position Trackting Robust Control Strategy of a Valve Controlled Asymmetric Nonlinear System

Aiming at nonlinearity and uncertainty in the valve controlled asymmetric cylinder position servo system,an experimental method was applied to obtain the system's equivalent linear uncertainty model.The specification for load disturbance rejection was derived from the theoretical linearized model,and the QFT(quantitive feedback technology) controller was designed.After finding notable tracking phase error,zero phase error tracking controller was designed to replace feedforward filter,and zero phase-shift low-pass filter was designed to reduce the high frequency gain of the zero phase error tracking controller.The experimental results show better curve tracking accuracy by using the improved QFT controller.