基于定量反馈理论（QFT）的三轴仪轴向力伺服控制系统的研究

摘要

This paper takes the axial force servo system of servo Triaxial Apparatus as a research object. A robust control er is de-signed according to Quantitative Feedback Theory ( QFT) to control the system . AMESim software is used to establish and cosimu-late the dynamic mathematic model instead of the traditional model built by transfer function. Analytical results show that the co-simu-lation is closer to the actual situation, the control er designed by QFT can be effectively used to suppress the parameter perturbation, such as the change of elastic stiffness load, oil effective bulk modulus and the system friction. It is easy to be realized in the project and it can be used to effectively improve the control quality of the servo triaxial apparatus.%以电液伺服三轴仪伺服轴向力的伺服系统为研究对象,采用定量反馈理论( QFT)设计的鲁棒控制器进行控制其设计,并利用AMESim软件建立液压系统的动态数学模型,代替传统的传递函数所建立模型的进行联合仿真。研究表明,QFT控制器可以有效抑制参数扰动,如弹性负载刚度变化、油液有效体积弹性模数变化,系统摩擦力变化。工程上易于实现,可以有效地改善伺服三轴仪的控制性能。