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| 直驱式电液伺服转叶舵机定量反馈理论鲁棒控制 | |
| 引用本文： | 苏文海,姜继海,王晓晶,刘军龙. 直驱式电液伺服转叶舵机定量反馈理论鲁棒控制[J]. 吉林大学学报(工学版), 2011, 41(3): 670-675 |
| 作者姓名： | 苏文海 姜继海 王晓晶 刘军龙 |
| 作者单位： | 1. 东北农业大学工程学院,哈尔滨150030;哈尔滨工业大学机电学院,哈尔滨150080 2. 哈尔滨工业大学机电学院,哈尔滨,150080 3. 哈尔滨理工大学机械动力工程学院,哈尔滨,150001 |
| 基金项目： | 国防基础科研基金项目(A2320060114) |
| 摘 要： | 针对直驱式电液伺服转叶舵机转动惯量大、时变不确定、水动力负载复杂的特点,提出了一种带有负载力矩观测补偿器的定量反馈理论鲁棒控制器的设计方案。在不考虑负载波动的前提下,解决了直驱式电液伺服转叶舵机由于系统的不确定性和存在干扰而不能准确控制的问题,有效降低了控制器设计的难度。同时,引入负载力矩动态观测补偿方法,对负载力矩进行动态实时补偿,有效提高了控制器的刚度和响应速度。试验结果表明:该控制器能有效地提高直驱式电液伺服转叶舵机的控制精度和稳态误差,具有良好的动态性能和鲁棒性。 |
| 关 键 词： | 流体传动与控制 直驱式转叶舵机 定量反馈理论 鲁棒控制 负载观测补偿器 |
Quantitative feedback robust control for direct drive electro-hydraulic servo rotary vane steering gear |
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| SU Wen-hai,JIANG Ji-hai,WANG Xiao-jing,LIU Jun-long. Quantitative feedback robust control for direct drive electro-hydraulic servo rotary vane steering gear[J]. Journal of Jilin University:Eng and Technol Ed, 2011, 41(3): 670-675 | |
| Authors: | SU Wen-hai JIANG Ji-hai WANG Xiao-jing LIU Jun-long |
| Affiliation: | SU Wen-hai1,2,JIANG Ji-hai2,WANG Xiao-jing3,LIU Jun-long2(1.School of Engineering,Northeast Agricultural University,Harbin 150030,China,2.School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150080,3.School of Mechanical Power Engineering,Harbin University of Science and Technology,Harbin 150001,China) |
| Abstract: | A design scheme was proposed for the quantitative feedback robust controller with the load torque observer and compensator to mitigate the shortcomings of the direct drive electro-hydroulic servo rotary vane steering gear(DDEHSRVSG),the high rotary inertia,the servo time-varying uncertainty,and the complex hydrodynamic load torque.The problem that the DDEHSRVSG can not control accurately because of the system uncertainty and the disturbance was resolved without consideration of the load fluctuation,and the ... |
| Keywords: | hydraulic transmission and control direct drive rotary vane steering gear quantitative feedback theory robust control load torque observer and compensator |
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