Design And Simulation Of Parametric Robust Control Method For Electro-hydraulic Servo System

This paper introduces the research status of electro-hydraulic servo system at home and abroad and the development history of control theory.The research object is the electro-hydraulic servo position control system of the manipulator.With regard to the uncertainty of the system parameters and the external interference,the traditional control method can not achieve the desired control effect by the simulation results.Therefore,in order to choose a more ideal control scheme,this paper mainly uses the robust H? mixed sensitivity control method to control the electro-hydraulic servo system,and through MATLAB software simulation research to verify the effect of control.Firstly,according to the principle block diagram of the electro-hydraulic servo system,the mathematical model of the components of the system is established.Then,the parameter variation range is obtained according to the stability condition of the system.The steady-state error and the disturbance error of the system are studied under the condition of system stability.Through the PID controller to the electro-hydraulic servo system simulation study shows that,When the system has the interference steady-state error,the PID controller can effectively eliminate the error,so that the output reaches the desired value,but when the system parameters change,the system output curve began to overshoot,fluctuation or even unstable status.In this paper,the basic knowledge about robust control theory are described.The robust control design needs to select the appropriate weighting function,Then,the controller is obtained by solving the solution of the Riccati equations according to the generalized controlled object under the weighting function.The robust control mainly solves the influence of the uncertainties in the system and makes the system maintain good stability and anti-Ability.Therefore,this paper chooses a robust H? mixed sensitivity controller for electro-hydraulic position servo control system.Finally,after designing the robust H? mixed sensitivity controller,it is necessary to carry out the simulation analysis and research on the system to verify the design of the controller.The output curve of the simulation shows that : when there are uncertain parameters,external disturbances and unmodeled dynamics in the control system,under the action of robust controller,the system can still maintain good robust stability,anti-jamming ability and robust control performance,which verifies that the designed controller control effect is better than the traditional PID Controller.