| The applications of robust control methods in electromechanical servo controlsystem have not been fully developed yet with many problems remaining. In this thesis,the robust control methods in a certain type of machine electromechanical servo controlsystem are investigated to improve the various performance of the system.First, the structure of electromechanical servo control system is provided, and amechanistic models of electromechanical system with perturbations is establishedthrough detailed analysis towards it.Secondly, a variety of experiments are designed, then the perturbation modelparameters and the nominal model parameters in the system are measured and asimulation platform of electromechanical servo system is established, whoseeffectiveness is verified by tests.Thirdly, the principle of selecting the robust control weighting function is studied,and a specific design of the weighting function for varieties of performance indicators isprovided. Also a processing method which helps solve the system controller is proposedfor the occasion that a pure integral part is in the nominal model.Furthermore, an electromechanical system controller is designed using robustcontrol methods, and the robust performance of the control system is analyzed. Finally,the effectiveness of the controller design is confirmed by simulation experiments usingthe electromechanical servo system simulation platform.Finally, the controller is applied in a real electromechanical servo system. Viaexperimental testings of the servo system performance and comparisons with the classiccontroller, the performance indicators of electromechanical servo system are examinedand the controlling effectiveness of the robust controller in the servo system is verified. |
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