Research On Robust Controller Design And Expriments For Elctromechanical Position Servo System

Electro-mechanical servo system is the most important part in simulation measurement table, which plays an important role in hardware-in-loop simulation and measurement in aeronautic and astronautic areas. Because of the uncertainty contained in the electro-mechanical servo system, it is necessary to research on robust control method for electro-mechanical servo system. This thesis researches on the robust controller design of electro-mechanical servo system. Two main methods in robust control theory--the mixed sensitivity method andμ-synthesis method have been researched and implemented in a real position servo system.Firstly, based on the analysis of the uncertainty factors in an experimental position servo system, the mathematic models including nominal model and uncertainty model of the electro-mechanical servo system are established for each method. Then, based on these models, a simulation platform, which is built for the simulation experiments later on, has been built up using matlab tools.Secondly, the theory of the mixed-sensitivity method andμ-synthesis method is reviewed. Based on each of these two methods and the design objective, a controller is designed for the nominal and the uncertainty model. The selection of the performance weight function and the comparison of the designed controllers are researched through some simulations.Finally, performance of the controller is examined in the experimental system. The results of the simulation are proved as well.