Design of High Performance Controllers for Complex Mechanical Systems

迫切需要开发新的关键控制方法，明确解决受控机械系统的多种性能要求，同时不强调对非常精确的过程模型的绝对依赖。这个问题可以表述如下；给定具有混合不确定性的过程模型、一组性能规范和高频稳定裕度，利用定量反馈理论中的频率响应法，研究(1)模型具有低频参数不确定性和高频柔性效应的复杂机械系统的控制系统设计。(2)开发高性能跟踪精度的控制算法；(3)在电液试验台上对算法进行实验验证。

There exists an urgent need to develop new and critical control methodologies that will explicitly address the multiple performance requirements of controlled mechanical systems, while deemphasizing absolute reliance on very accurate process models. The problem can be stated as follows; given a process model with mixed uncertainty, a set of performance specifications, and a high frequency stability margin, develop a controller which will provide output performance within the given tolerances and simultaneously maintain closed loop stability in the presence of the uncertainties.This research uses the frequency response method of quantitative feedback theory to investigate (1) the design of control systems for complex mechanical systems whose models display low frequency parametric uncertainty as well as high frequency flexibility effects, (2) the development of control algorithms for high performance trackiing accuracy of such systems, and (3) the experimental validation of the algorithms on an electrohydraulic rig.