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针对大型装备电液系统非线性、参数不确定性问题,建立了比例阀控非对称缸液压系统的非线性动态模型。考虑反馈控制,建立了具有不确定参数系统线性化数学模型。基于边界理论和线性矩阵不等式,提出了电液系统鲁棒H_∞位置控制策略。着重考虑系统结构化系数的擅动,构建了具有积分行为的H_∞控制器,设计了估测系统内部状态的观测器。通过仿真和实验,验证了提出的算法和控制策略。对比了系统参数不变、外负载力变化下和系统参数变化下系统的鲁棒性和稳定性。仿真和实验结果表明,提出的具有积分行为的鲁棒H_∞位置控制策略能提高系统的鲁棒性和稳定性。
Aiming at the nonlinearity and parameter uncertainty of electro-hydraulic system in large equipment, a nonlinear dynamic model of proportional valve-controlled asymmetric cylinder hydraulic system is established. Considering feedback control, a linear mathematical model with uncertain parameters is established. Based on the boundary theory and linear matrix inequality, a robust H_∞ position control strategy for electro-hydraulic system is proposed. Considering the tampering of the system structural coefficient, an H_∞controller with integral behavior was constructed and an observer was designed to estimate the internal state of the system. Through simulation and experiment, the proposed algorithm and control strategy are verified. The robustness and stability of the system are compared under the condition of constant system parameters, changes in external load forces and changes in system parameters. Simulation and experimental results show that the proposed robust H_∞ position control strategy with integral behavior can improve the robustness and stability of the system.