摘要
针对电液负载模拟器因存在多余力而影响加载精度的问题,建立负载模拟器数学模型,分析多余力产生机制,提出包含定常补偿器和干扰观测器(Disturbance observer,DOB)的多余力混合补偿策略以提高加载精度。首先基于结构不变性原理设计定常补偿器,再通过求解H_∞混合灵敏度问题获得DOB,补偿剩余多余力并提高系统鲁棒性。静态、高频动态力函数跟踪仿真表明多余力减少65%以上,动态响应快速,摄动仿真表明负载模拟器对系统不确定性的影响有较好的鲁棒性;动态加载试验证明了策略的正确性和有效性。
Aimed at the problem of bad performance in loading accuracy of the electrical-hydraulic loading simulator due to the redundant force, a mathematical model is built so the mechanism of redundant force is pointed out, and the hybrid compensation method is proposed to enhance the loading accuracy that is composed of a constant compensator which compensates the majority parts of redundant force, and a Disturbance observer （DOB） that eliminates the surplus of it. It＇ s obtained by applying the structural invariance theory and solving H∞ mixed-sensitivity problem respectively. With the implementation of the hybrid compensation strategy, constant and 20 Hz Force signals＇ tracking tests results show that the redundant force is reduced by 65% ; perturbation test results show the loading simulator＇s robustness could be expected, it＇s proved valid by loading test on loading simulator.
出处
《液压与气动》
北大核心
2017年第3期43-48,共6页
Chinese Hydraulics & Pneumatics
基金
国家自然科学基金(51205329)
中央高校基本科研业务费科技创新项目(2682015CX036)
关键词
电液负载模拟器
多余力
H∞鲁棒控制
干扰观测器
结构不变性
electrical-hydraulic loading simulator, redundant force, H∞ robust control, disturbance observe, structural invariance
