The Application And Research On Robust Control Theory In The Test Swing Bench System

H_∞control theory is a kind of powerful tool of analyzing and designing uncertain system, which can solve mainly control problems of control quality worsening due to the error of object modeling and model perturbation within a certain range. This paper makes analysis on the application of H_∞control theory in the position system of ship anti-rolling tank test swing bench. It is the first time to use H_∞control theory in designing ship anti-rolling tank swing bench control system with the method of mixed sensitivity optimization on base of analyzing and researching into the mathematical model, and a satisfied result is obtained.The test swing bench of anti-rolling tank is an important experiment facility to research and design anti-rolling tank. The device is a kind of special synthetical system. So far China has no such test equipments in so large scale. The bench can simulate factual movement of the ship rolling and swaging in the wave, and it can also afford experimental verification for the design of anti-rolling tank through bench test.The test swing bench of anti-rolling tank is based on the rolling and swaying model and conform connection of ship. This paper designs the ship anti-rolling tank swing bench control system on the basis of the bench. The mathematical model of ship-tank and the mathematical model of rolling and swaying position system were founded. Parts of an apparatus and parameters were calculated in this paper. On the basis of the founded mathematical model the system were emended and simulated by adopting classical PID controller. It is showed that classical PID controller can obtain satisfied result to some extent. But the parametric uncertainties and disturbances are existence. When it change, the precision of the PID controllers become low. To improve the robustness and robust performances of system, the robust controller based on H_∞mixed sensitivity for the system is proposed through the analysis of uncertainties and weighting function selection. And the robust controller is to improve the interference immunity. Compared with the PID controllers, the robust controller not only can stabilize when parameters are perturbed, but also improve the tracking accuracy of the system, and increase the robustness of disturbances existence, improve the system performance.