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本文提出了一个详细的、用于具有重要的不确定性和非线性系统中的液压执行元件的设计与试验评估。其中,定量反馈理论(QFT)被用来设计线性鲁棒控制器。通过实验总结出来,可以通过两种方法来精确表示非线性设备和操作范围较大的线性定常等效模型。试验及测试是在装备有一种低成本的比例电磁阀的液压执行元件上进行的。试验结果表明,补偿系统对诸如环境刚度和供给压力等参数的变动不敏感,并且在各种力量设定值上工作流畅。
This paper presents a detailed design and test evaluation of hydraulic actuators in an importantly uncertain and nonlinear system. Among them, quantitative feedback theory (QFT) is used to design a linear robust controller. Summarized by experiments, two methods can be used to accurately represent nonlinear devices and large linear steady-state equivalent models. Tests and tests are carried out on hydraulic actuators equipped with a low-cost proportional solenoid valve. The test results show that the compensation system is insensitive to changes in parameters such as environmental stiffness and supply pressure and operates smoothly at various force settings.