A quantitative feedback control system design for the multi-axis simulator having uncertain plants

摘要

This paper presents the design of quantitative feedback control system of three axes hydraulic road simulator. The road simulator is the multiple input-output (MIMO) system with parameter uncertainties which should be compensated with robust control method. The objective of the present paper is to reproduce the road vibration signal by three hydraulic cylinders. The replaced m~2 MISO equivalent control system is suggested, which satisfies the design specification of the original mxm MIMO control system by decoupling each three axes. Quantitative feedback theory (QFT) is used to control the simulator. The QFT illustrates a tracking performance of the closed-loop controller with low order transfer function G(s) and pre-filter F(s) having the minimum bandwidth for the uncertain plant with parameter uncertainty. The simulation and the experimental results show that the proposed control technique works well under uncertain hydraulic plant system.