Title :
QFT robust control of the continuous rotary electro-hydraulic servo motor
Author :
Xiaojing, Wang ; Jihai, Jiang ; Yuhua, Ma ; Shangyi, Li
Author_Institution :
Inst. of Fluid Power Transm. & Control, Harbin Inst. of Technol., Harbin
Abstract :
In order to improve the low speed tracking performance and high frequency response performance of continuous rotary electro-hydraulic servomotor, this paper analyzed the operating principle of servomotor, and established the mathematical model of electro-hydraulic position servo system with continuous rotary servomotor. Two degree of freedom QFT controller based on quantitative feedback theory of continuous rotary servomotor was designed. Through the experiments, the performance of PID controller and QFT controller based on feed forward and friction disturbance compensation were compared. It is verified that two degree of freedom QFT controller can not only meet the systempsilas requirement with robustness, but also can improve the low speed performance and bandwidth of the system. QFT controller of continuous rotary servomotor is feasible.
Keywords :
angular velocity control; electrohydraulic control equipment; hydraulic motors; robust control; servomotors; state feedback; PID controller; QFT controller; QFT robust control; Wang high frequency response; continuous rotary electro-hydraulic servo motor; electro-hydraulic position servo system; feed forward; friction disturbance compensation; low speed tracking performance; mathematical model; quantitative feedback theory; two degree of freedom QFT controller; Feedback; Feeds; Frequency response; Friction; Mathematical model; Performance analysis; Robust control; Servomechanisms; Servomotors; Three-term control;
Conference_Titel :
Systems and Control in Aerospace and Astronautics, 2008. ISSCAA 2008. 2nd International Symposium on
Conference_Location :
Shenzhen
Print_ISBN :
978-1-4244-3908-9
Electronic_ISBN :
978-1-4244-2386-6
DOI :
10.1109/ISSCAA.2008.4776355
