针对电动舵机需要适应模型的不确定性、系统的多种非线性因素、使用环境的复杂性等要求,提出了以速度环、位置环实现通用的鲁棒控制方法。速度环控制器设计采用零极点相消原则,实现系统极点的重新配置,保障了速度环性能优良且始终保持稳定;位置环控制器使用H_∞混合灵敏度优化设计方法,满足系统鲁棒稳定性要求的同时,保障了闭环系统的控制性能;应用模型降阶中的平衡截断法,去除对系统响应贡献较小的自由度,保留主导模式,保障系统性能,简化位置控制器。经设计和仿真验证,系统在全面满足指标的前提下,同时具有较好的鲁棒性。折算到电机轴上的转动惯量在(2~6)倍变化时,用二阶到五阶位置控制器仿真,四种控制器位置闭环伯德图中,高频稍有变化,带宽优于20 Hz;位置闭环单位阶跃响应无超调,上升阶段有区别,调节时间优于50 ms。

For the uncertainty of adaptation model, various nonlinear factors and diversity and complexity of operational environment the electrical actuator concerned, using velocity loop and position loop to realize a general robust control method is put forward. The design of the velocity loop controller adopts the principle of pole-zero cancellation to realize reconfiguration of the system pole and ensure the performance of the velocity loop is good and keep stable consistently. The position loop controller uses mixed sensitivity optimization design method to meet the requirement of the system robust stability, as well as ensure the control performance of the loop system. It also uses the balanced truncation method in the model reduction to remove the degree of freedom which contribute less to the system response and reserve the dominant mode, ensuring system performance and simplifying the position controller. By concrete design simulation verifying, the system is not only completely meet the performance characteristics, but also has better robustness. When the rotational inertia converted onto motor axis changes 2 to 6 times, using second order to fifth order position controller simulating, the high frequence in the position close loop Bode diagram of 4 kinds of controller changes slightly and the bandwidth is better than 20 Hz. The position loop unit step response is without overshoot and the ascent stage have difference; the adjustment time is better than 50 ms.