位移控制系统效率高,在工业中得到广泛应用。液压系统中的致动器运动的精确控制通常在工业应用中是必需的,例如用于飞行控制的固定翼飞机中的控制表面的运动以及飞机制动系统。为了满足这一需求,本研究的目的是开发高保真模型以实现精确控制.这项工作的重点是对用于控制线性致动器速度的静液压传动进行建模。使用可变排量泵改变进入致动器的流量。该研究包括检查开环系统的稳定性和性能。此外,该研究涉及比例积分微分PID和H∞控制器的设计,然后分析了具有两个控制器的闭环系统的稳定性和性能。此外,考虑了乘性不确定性,并使用PID和H∞控制器验证了系统的鲁棒性。在目前的研究中,不确定的参数,例如执行器效率,泵速,考虑和粘性摩擦系数,并允许其规定值偏差±5%。考虑不确定性可确保即使在设计参数在指定范围内变化的情况下,系统也能正常运行。比较了开环系统的系统响应,带PID控制器的闭环系统,和具有H∞控制器的闭环系统。结果表明,开环系统在实际应用中保持稳定,但在输入跟踪和干扰抑制方面表现不佳。PID控制器的引入显著增强了系统对参考输入的响应;然而,它在超调和稳定时间方面的干扰抑制能力仍然不令人满意。配备PID控制器的系统未能满足鲁棒性要求。相反,H∞控制器的使用产生了优异的响应,满足了鲁棒性标准。
Displacement-controlled systems have high efficiency and are widely used in industry. Accurate control of the
actuator motion in hydraulic systems is usually a necessity in industrial applications such as the motion of control surfaces in fixed-wing airplanes for flight control as well as the aircraft brake systems. To address this need, the current study was conducted with the goal of developing a high-fidelity model to achieve precise control. This work focused on modeling a hydrostatic transmission that is used for controlling a linear
actuator velocity. The flow entering the
actuator was changed using a variable displacement pump. The study included examining the stability and performance of the open-loop system. Additionally, the study involved the design of the proportional-integral-derivative PID and H∞ controllers, followed by the analysis of the stability and performance of the closed-loop system with both controllers. Furthermore, the multiplicative uncertainty is taken into account and the robustness of the system is verified using controllers PID and H∞. In the current study,Uncertain parameters such as
actuator efficiency, pump speed, and viscous friction coefficient were considered and allowed for a ±5% deviation from their stated values. Taking uncertainty into account ensures that the system performs properly even in case where the design parameters vary within the specified range. The system response is compared for the cases of open-loop system, closed-loop system with PID controller, and closed-loop system with H∞ controller. The results demonstrated that the open-loop system remains stable for real-world applications but shows insufficient performance in terms of input tracking and disturbance rejection. The introduction of the PID controller significantly enhanced the system\'s response to a reference input; however, its disturbance rejection capabilities in terms of overshoot and settling time were still unsatisfactory. The system equipped with the PID controller failed to meet the robustness requirements. Conversely, the utilization of H∞ controllers yielded superior responses and fulfilled the robustness criteria.