Electric Motion Simulator Composite Controller Design Problem

In the process of controller design, how to deal with the uncertainties which exist in the inner axis of a specified table system is discussed. A design method of robust compound controller is studied based on the framework of controller design using H∞control theory. Lastly, the servo control scheme is determined and the result of debugging proves the availability of this method.Firstly, the scheme of the simulation table is introduced. The mechanism model of permanent magnet synchronous motor is derived; and so on the mathematics model of SMT is got. The nominal plant is given by the method of least squares in frequency domain. The main possible uncertainties of the system are analyzed in detail with its impact of the performance of close loop and described as the unstructured multiplicative uncertainties.Secondly, a sufficient condition for guaranteed improvement in output-tracking performance with the use of the feed-forward is discussed by Hoo robust control theory. Then, the procedure for robust compound controlled design is introduced based on the framework of H∞control theory, in which parameters of feed-forward and feedback controllers can be determined.Finally, based on the decision of totally digital control strategy of a specified table system which inertia maybe changed, the above theoretical results and the obtained corresponding table controller are concretely realized. The experimental results of the table prove the effectiveness and feasibility of these methods.