基于两自由度<i>H</i><sub>∞</sub>控制策略的泵控液压系统研究

李小虎 1; 柳松玮 1; 施虎 1; 李党超 2; 张育林 2

doi:10.7652/xjtuxb201604002

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基于两自由度H_∞控制策略的泵控液压系统研究

更新时间：2025-07-09

- 基于两自由度H_∞控制策略的泵控液压系统研究
- A Study on Hydraulic Systems Controlled by Pumps Based on H_∞ Control Strategy with Two Degrees of Freedom
- 西安交通大学学报 2016年50卷第4期页码：7-13
- 作者机构：
  
  西安交通大学机械工程学院,西安,710049
- 作者简介：
- 基金信息：
  
  : 2015-11-16。作者简介: 李小虎(1976—),男,博士,讲师。基金项目: 国家科技支撑计划资助项目(2014 BAF02B00);国家自然科学基金青年基金资助项目(51305328)
- DOI：10.7652/xjtuxb201604002
  中图分类号： TP271
- 网络首发：2016-04-10，
  
  纸质出版：2016
- 稿件说明：
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李小虎 1, 柳松玮 1, 施虎 1, 等. 基于两自由度H_∞控制策略的泵控液压系统研究[J]. 西安交通大学学报, 2016,50(4):7-13. DOI: 10.7652/xjtuxb201604002.

A Study on Hydraulic Systems Controlled by Pumps Based on H_∞ Control Strategy with Two Degrees of Freedom[J]. 2016, 50(4): 7-13. DOI: 10.7652/xjtuxb201604002.
李小虎 1, 柳松玮 1, 施虎 1, 等. 基于两自由度H_∞控制策略的泵控液压系统研究[J]. 西安交通大学学报, 2016,50(4):7-13. DOI: 10.7652/xjtuxb201604002. DOI：

A Study on Hydraulic Systems Controlled by Pumps Based on H_∞ Control Strategy with Two Degrees of Freedom[J]. 2016, 50(4): 7-13. DOI: 10.7652/xjtuxb201604002. DOI：

摘要

针对泵控液压系统存在的控制精度低和鲁棒性差等问题

提出一种两自由度H

∞

控制策略。根据泵控液压控制系统的工作原理

采用电液模块功能分区的方法构建其数学模型; 引入PID控制器作为串联校正函数

提高系统的响应速度

同时设计反馈控制器及前置滤波器提高系统的跟踪精度和鲁棒性; 在泵控液压系统的物理模型上对两自由度H

∞

控制器进行仿真研究

仿真结果表明所设计的控制器具有良好的跟踪精度和鲁棒性

并对其进行实验研究。实验结果表明

与PID控制器相比

采用两自由度H

∞

控制器时系统的跟踪误差从3.84%～4.64%降低至0.22%～0.42%

同时对外界扰动具有更好的鲁棒性。可见

所提出的两自由度H

∞

控制器可用于复杂工况下泵控液压系统的实际控制。

Abstract

An H

∞

control strategy with two degrees of freedom(T-DOF-H)is proposed to avoid the poor robustness and low control precision problems of the pump controlled hydraulic systems. Following the working principle of pump controlled hydraulic systems

a mathematical model is constructed by partitioning the functions of electrical and hydraulic modules. An optimized PID controller is employed to serve as the series compensation function and to improve the response speed of the system. A feedback controller and a prefilter are designed according to the H

∞

control theory and used to further improve the tracking accuracy and robustness of the system. Simulation results on a physical mode

l of pump controlled hydraulic system show that the proposed controller has good performances in tracking error and robustness. A comparison with the PID controller shows that the proposed controller reduces the tracking error from 2.6%-4.64% to 0.22%-0.42%

and has better robustness against external disturbances. It is concluded that the proposed controller can be applied to real control of pump controlled hydraulic systems in complex conditions.

关键词

Keywords

references

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基于两自由度H∞控制策略的泵控液压系统研究

A Study on Hydraulic Systems Controlled by Pumps Based on H∞ Control Strategy with Two Degrees of Freedom

DOI：10.7652/xjtuxb201604002

摘要

Abstract

关键词

Keywords

references

基于两自由度H_∞控制策略的泵控液压系统研究

A Study on Hydraulic Systems Controlled by Pumps Based on H_∞ Control Strategy with Two Degrees of Freedom