CAJ | 학술논문

基于H∞鲁棒控制器来改善机器人液压系统位置控制性能。首先经液压动力学和机械动力学分析，建立液压驱动系统的数学模型，摩擦力采用Dahl 模型。然后按系统参数标称值设计基于混合灵敏度的H∞鲁棒控制器，对权值函数进行优化选择。最后经仿真和实验验证得出如下结论：该控制方法可以有效抑制摩擦力参数误差对位置跟踪控制的影响，尤其在速度换向时摩擦力模型的不确定性产生的影响，显著减小了位置跟踪误差，且该控制器稳态和过渡性能都优于传统PID控制器。
기우H∞로봉공제기래개선궤기인액압계통위치공제성능。수선경액압동역학화궤계동역학분석，건립액압구동계통적수학모형，마찰력채용Dahl 모형。연후안계통삼수표칭치설계기우혼합령민도적H∞로봉공제기，대권치함수진행우화선택。최후경방진화실험험증득출여하결론：해공제방법가이유효억제마찰력삼수오차대위치근종공제적영향，우기재속도환향시마찰력모형적불학정성산생적영향，현저감소료위치근종오차，차해공제기은태화과도성능도우우전통PID공제기。
This paper presented the design of H∞ robust controller to improve the position control of a hydraulic system.First,the hydraulic system model was established by the analysis of the hy-draulic and mechanical dynamics.The Dahl friction model was adopted.Then the H∞ robust control-ler was designed around the nominal parameter values based on mixed sensitivity.The weighting functions were chosen as optimized obj ectives.Finally,by simulation and experiments,it is proved this control method can effectively suppress the friction error’s effects on the position tracking con-trol,especially the effects of the friction model uncertainty in reversing of velocity.The tracking er-rors are reduced significantly.Both of the steady and transient performance of the robust controller is superior to the conventional PID controller.Therefore the method was validated.