关键词: 流体传动与控制, 直驱式转叶舵机, 定量反馈理论, 鲁棒控制, 负载观测补偿器

Abstract:

A design scheme was proposed for the quantitative feedback robust controller with the load torque observer and compensator to mitigate the shortcomings of the direct drive electro-hydroulic servo rotary vane steering gear(DDEHSRVSG),the high rotary inertia, the servo time-varying uncertainty, and the complex hydrodynamic load torque. The problem that the DDEHSRVSG can not control accurately because of the system uncertainty and the disturbance was resolved without consideration of the load fluctuation, and the difficulty in controller design was alleviated. The dynamic observation and compensation were introduced for the load torque to enhance the stiffness and response speed of the controller. The test results showed that the proposed controller enhances the control accuracy and reduces static error of the DDEHSRVSG, being characterized by good dynamic behavior and robustness.

Key words: hydraulic transmission and control, direct drive rotary vane steering gear, quantitative feedback theory, robust control, load torque observer and compensator