| Electromechanical servo system is becoming more important in modern industry, and the electromechanical servo system which is represented by electric servo platform also has more extensive applications in military industry and social production. For high precision servo platform, due to the complexity of the system, there will be a lot of impacts which contain disturbance and uncertain factors on the system accuracy and dynamic process during the application. Due to the unknown disturbance, the classical method is difficult to obtain satisfactory results, while the robust control system can be designed quantitatively for the controller which assures ideal results. In this paper, the application of robust control methods in the real mechanical and electrical servo system is studied based on the mechanical and electrical servo system. The main contents include the following:Firstly, the physical model of electromechanical servo system and the main source of perturbation was provided, and the mathematical model of the uncertainty perturbation and the mathematical model of electromechanical servo system was given. Also, the system model with uncertainty perturbation was established.Secondly, the experiments of measuring model parameters are designed, and the mathematical model of the electromechanical system is identified, showing the range of uncertainty. Disturbance observer（DOB） is designed to compensate the disturbance, and the compensation effect of the disturbance observer（DOB） is illustrated by simulation.Again, based on robust controller design methods, including based on both mixed sensitivity and H∞ optimal controller, given the principle of selecting the weighting function, given the effectiveness of robust controller.Finally, based on the robust control methods of H2 and H∞, given the mixed solution robust controller design methods and simulation result to test the control effect and the effectiveness of the controller, and use the method of the optimal Hankel norm to give the approximate number of reduced-order controllers for the designed robust controllers, then contrast the merits of robust control methods based on given all kinds of robust control methods. |
