电动舵机加载系统鲁棒综合设计

摘要

There are uncertainties and extraneous torque in the lectric load system,a control strategy based on feedforward compensation and robust control is developed to solve problems leading by uncertainties and disturbance.feedforward compensation is used to Compensate disturbance.The analysis shows that the results of the simulation has excellent performance and the controller can curb the extraneous torque well.%电动加载系统存在系统不确定性因素,以及多余力矩.为更好解决由不确定性因素和扰动引起的系统控制问题,提出了基于前馈补偿加鲁棒控制的控制方法,针对舵机运动对加载系统跟踪性能的影响,应用前馈控制对舵机运动扰动进行补偿.通过仿真,揭示了控制器设计中的设计依据,结果表明该方法所设计系统具有很好的鲁棒性,以及很好的抑制多余力矩能力.