消振电力作动器采用四台电机各自独立驱动四个偏心质量块的形式实现减振,传统的并行控制策略会因为在系统输出端存在强耦合而导致控制效果不佳。针对以上问题,首先建立了作动器输出力的数学模型,提出了消振电力作动器用位置环解耦控制策略,并将广义频率法和主导极点法相结合应用于控制系统的参数设计上。然后,分析了系统的动态性能,并通过回差矩阵奇异值法等稳定裕度量测方法计算出了解耦控制系统的稳定裕度,结果表明本文所设计的系统具有良好的动态特性和鲁棒性。最后,研制出了原理样机,实验验证了控制策略的有效性和参数设计的合理性。
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