机电位置伺服系统鲁棒控制器设计及实验的研究.docx

国内图书分类号: 国际图书分类号: 学校代码: 10213 密级:公开工学硕士学位论文机电位置伺服系统鲁棒控制器设计及实验研究硕士研究生:刘毛导师:姚郁教授申请学位:工学硕士学科:控制科学与工程所在单位:航天学院答辩日期: 2010 年7月授予学位单位:哈尔滨工业大学 Classified Index: : Dissertation for the Master Degree in Engineering RESEARCH ON ROBUST CONTROLLER DESIGN AND EXPRIMENTS FOR ELCTROMECHANICAL POSITION SERVO SYSTEM Candidate : Supervisor : Academic Degree Applied for : Speciality : Affiliation : Date of Defence : Liu Mao Prof. Yao Yu Master of Engineering Control Science and Engineering School of Astronautics July, 2010 Degree-Conferring-Institution : Harbin Institute of Technology 哈尔滨工业大学硕士学位论文摘要仿真测试转台是航空、航天等领域中进行半实物仿真与测试的重要设备, 其核心是机电伺服系统。机电伺服系统是典型的含有诸多不确定性的系统, 因此研究机电伺服系统的鲁棒控制方法具有重要的实际意义。本文以机电位置伺服系统为背景,从实际系统出发,研究了鲁棒控制方法,主要是混合灵敏度方法与??综合方法在机电伺服系统上的应用问题。研究的主要内容为: 首先,根据实际机电位置伺服系统的原理及组成,分析系统中存在的不确定性,建立机电位置伺服系统的数学模型,基中包括标称模型及不确定性模型,并据此搭建可供仿真验证使用的仿真平台。其次,介绍了混合灵敏度方法及??综合方法,其中讨论了权函数选择等问题。然后针对建立的系统模型,根据设计指标分别通过这两种方法进行了鲁棒控制器的设计。并通过仿真对设计的控制器性能进行研究。最后,通过实验研究所设计的控制器性能,并和前述仿真结果进行了比较。关键词:位置伺服;鲁棒控制;混合灵敏度; ??综合-I- 哈尔滨工业大学硕士学位论文 Abstract Electro-mechanical servo system is the most important part in simulation measurement table, which plays an important role in hardware-in-loop simulation and measurement in aeronautic and astronautic areas. Because of the uncertainty contained in the electro-mechanical servo system, it is necessary to research on robust control method for electro-mechanical servo system. This thesis researches on the robust controller design of electro-mechanical servo system. Two main methods in robust control theory--the mixed sensitivity method and ??-synthesis method have been researched and implemented ina real position servo system. Firstly, based on the analysis of the uncertainty factors in an experimental position servo system, the mathematic models including nominal model and uncertainty model of the electro-mechanical servo system are established for each method. Then, based on these models, a simulation platform, which is built for the si