LMI based multi-objective robust control electro-hydraulic servo loading system
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摘要: 为提高多通道电液伺服加载系统的性能,设计了基于线性矩阵不等式(LMI,Linear Matrix Inequalities)的多目标鲁棒控制器.首先将加载系统中的参数时变性、通道间的耦合以及非对称缸加载的差异性当作不确定性来处理;然后将系统的频宽要求通过性能权函数加以考虑,将不确定性通过鲁棒权函数加以考虑,将系统的时域瞬态响应特性通过区域极点配置加以考虑,并将这样一个多目标控制问题通过建立和求解基于LMI约束的凸优化问题来解决.仿真结果表明,基于LMI的多目标鲁棒控制非常适合多通道电液伺服加载系统的特点,可以使加载系统在较大范围的参数变化时仍具有良好的动态性能.Abstract: To improve the performance of the multi-channel electro-hydraulic servo loading system, a multi-objective robust control method based on LMI(linear matrix inequalities) was proposed. Several factors such as parameter uncertainties, strong couplings among different loading channels, and performance differences caused by application of asymmetric hydraulic actuators for the loading system were all considered as a general uncertainty. The design process was composed of associating control system frequency band with performance weighting functions, associating system uncertainty with robust stability weighting functions and associating transient response behaviors with regional pole placement. By means of establishing and solving a LMI based convex optimization methodology, this multi-objective control problem can be solved subsequently. Simulation results show that the proposed control law design approach can achieve high dynamic performance and robust performance when the parameters of the electro-hydraulic servo loading system are changed in a wide range.
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Key words:
- linear matrix inequality /
- servo system /
- robust control /
- force control
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