关键词: 液压仿真转台, 鲁棒复合控制, 鲁棒内回路补偿, 前馈补偿, 反馈控制

Abstract:

A robust compound control structure is presented for hydraulic simulator, which suffers from severe time-varying uncertainty and external disturbance, and whose performance requirement, such as high-accuracy tracking control, becomes higher and higher. The proposed control structure consists of a robust inner loop compensator, an outer loop feedback controller and a command signal feedforward compensator. The robust inner loop compensator is used for restraining the influence of external disturbance and plant time-varying uncertainty on control system.

Key words: hydraulic , simulator,  , robust , compound , control,  , robust , inner , loop , compensation,  , feedforward , compensation,  , feedback , control