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针对采用PID控制器控制液压操纵负荷系统存在系统握杆稳定性及平滑性不好的缺点,设计了一种基于结构化奇异值设计方法的鲁棒控制器,并将两种控制进行了对比实验。结果表明,本文设计的鲁棒控制器有效地提高了系统的握杆稳定性及平滑性。
Aiming at the shortcomings of poor controllability and poor smoothness of grip system of hydraulic manipulating load system by using PID controller, a robust controller based on structured singular value design method is designed, and two kinds of control are compared with each other . The results show that the robust controller designed in this paper can effectively improve the grip stability and smoothness of the system.