Nonlinear Adaptive Robust Force Control of Hydraulic Load Simulator  

作　　者：YAO Jianyong JIAO Zongxia YAO Bin SHANG Yaoxing DONG Wenbin 

机构地区：[1]Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China [2]School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China [3]School of Mechanical Engineering, Purdue Universiiy, West Lafayette, IN 47907, USA [4]Beijing Aerospace Automatic Control Institute, Beijing 100854, China

出　　处：《Chinese Journal of Aeronautics》2012年第5期766-775,共10页中国航空学报（英文版）

基　　金：National Natural Science Foundation for Distinguished Young Scholars of China (50825502)

摘　　要：This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conven- tional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlin- ear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptoti- cally stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parame- ters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncer- tainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved.This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conven- tional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlin- ear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptoti- cally stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parame- ters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncer- tainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved.

关 键 词：hydraulic load simulator adaptive control robust control nonlinear control hydraulic actuators Lyapunov functions 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TM571[自动化与计算机技术—控制科学与工程]