高精度液压仿真转台鲁棒控制

 针对液压仿真转台具有时变不确定性、复杂外干扰等特点和高精度控制性能要求，提出了一种鲁棒复合控制结构，该结构由鲁棒内回路补偿器、外回路反馈控制器和输入信号前馈补偿器三部分组成。其中，鲁棒内回路补偿器用来抑制外干扰和时变不确定性的影响，外回路反馈控制器的作用是保证闭环系统的整体性能，输入信号前馈补偿器实现对系统动态时滞的补偿，以保证对参考信号的精确跟踪。以某型液压仿真转台内环为例，首先根据所提出控制策略的基本思想，给出了控制系统的具体设计过程，然后，进行了阶跃响应、低速跟踪和正弦响应试验。试验结果表明，所提出的鲁棒控制策略是有效的和可行的。

Robust Control for High-accuracy Hydraulic Simulator

A robust compound control structure is presented for hydraulic simulator,which suffers from severe time-varying uncertainty and external disturbance,and whose performance requirement,such as high-accuracy tracking control,becomes higher and higher.The proposed control structure consists of a robust inner loop compensator,an outer loop feedback controller and a command signal feedforward compensator.The robust inner loop compensator is used for restraining the influence of external disturbance and plant time-varying uncertainty on control system.The feedback controller guarantees the overall performance of closed-loop system.The feedforward compensator realizes the compensation for dynamic time lag of system in order to make the hydraulic simulator excellently track the reference signal.Taking the inner gimbal of a certain type of hydraulic simulator as example,the design process is presented according to the proposed control strategy,and then,a series of experiments,such as step response,ultra-low tracking and sine response experiments,are carried out.Experimental results demonstrate that the proposed control strategy for hydraulic simulator is valid and feasible.