六自由度运动平台的动态响应特性分析及AMESim仿真

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为了解决液压伺服系统中存在负载干扰等的不确定因素对系统造成不稳定性的问题，以伺服系统中的六自由度液压运动平台试验样机为研究对象，通过对伺服系统动态响应特性进行分析的基础上，提出了动态压力输出补偿的鲁棒H∞控制策略，并进行了物理模型的AMESim仿真。研究结果表明：该方法可在较大摄动的情况下获得好的鲁棒性，并且可以满足设计要求的响应频宽，从而保证平台运动的响应速度和精度。 In order to solve the unstable problems in hydraulic servo system due to some uncertain factors （load disturbance,etc.）,an experimental prototype on a hydraulic motion platform with six degrees of freedom in a servo system was studied. A robust control strategy for dynamic pressure output back-off was put forward by analyzing dynamic response characteristics in the servo system and simulating with AMESim. The results show that, using this method, a better robustness is obtained under a larger disturbance,and the response bandwidth meets the design requirement which will ensure the response speed and accuracy of the platform motion.