Adaptive Fuzzy Torque Control of Passive Torque Servo Systems Based on Small Gain Theorem and Input-to-state Stability  

作　　者：WANG Xingjian WANG Shaoping ZHAO Pan 

机构地区：[1]School of Automation Science and Electrical Engineering, Beihang University, Beij ing 100191, China [2]Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China

出　　处：《Chinese Journal of Aeronautics》2012年第6期906-916,共11页中国航空学报（英文版）

基　　金：National High-tech Research and Development Program of China (2009AA04Z412);"111" Project;BUAA Fund of Graduate Education and Development

摘　　要：Passive torque servo system （PTSS） simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torque control （AFTC） algorithm is proposed for PTSS in this paper, which reflects the essential characteristics of PTSS and guarantees transient tracking performance as well as final tracking accuracy. Takagi-Sugeno （T-S） fuzzy logic system is utilized to compensate parametric uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied using small gain theorem and the control system is proved to be semiglobally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an electric load simulator （ELS）, and the comparative experimental results indicate that AFTC controller is effective for PTSS.Passive torque servo system （PTSS） simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torque control （AFTC） algorithm is proposed for PTSS in this paper, which reflects the essential characteristics of PTSS and guarantees transient tracking performance as well as final tracking accuracy. Takagi-Sugeno （T-S） fuzzy logic system is utilized to compensate parametric uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied using small gain theorem and the control system is proved to be semiglobally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an electric load simulator （ELS）, and the comparative experimental results indicate that AFTC controller is effective for PTSS.

关 键 词：flight simulation adaptive control fuzzy control passive torque servo system electric load simulator extra torque small gain theorem input-to-state stability 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置] TP13[自动化与计算机技术—控制科学与工程]