舵机电液伺服加载复合控制方法研究  

Research on electro-hydraulic servo loading composite control method of steering gear

作　　者：董胜[1] 袁朝辉[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《工程设计学报》2013年第6期539-544,共6页Chinese Journal of Engineering Design

摘　　要：为解决飞机舵面加载控制中出现的强干扰、耦合等问题,分析被动式加载系统中干扰力矩的特点,对前馈补偿方法中存在的高阶微分补偿控制器物理上难以实现以及模型失配问题,提出了基于改进型前馈补偿结构和FCMAC-PID控制算法相结合的复合控制方法.在前馈补偿控制器设计中采用加载马达输出转轴角速度作为补偿输入,该种补偿器不仅有效地消除了多余力矩,而且降低了整个系统以及补偿器的阶次.针对普通PID控制器快速性和稳定性之间的矛盾,研究了FCMAC-PID控制器,在保证稳定性的同时快速性得到了改善.仿真表明:采用补偿复合控制器可以有效消除扰动,系统能快速准确跟踪载荷谱.In order to solve the problems in aircraft rudder loading system such as strong interfer- ence, coupling and so on, we analyzed the characteristics of disturbance torque in passive loading system. For high order differential controller with feed-forward compensation method in physics are hard to realize and models are mismatched, we put forward a composition control method based on the combination of the feed-forward compensation structure and FCMAC-PID control al- gorithm. In the design of feed-forward compensation controller, we used the loading motor output shaft angular velocity as the compensation input, this kind of compensator not only effectively e- liminated the surplus torque, but also reduced the whole system as well as the compensator or- der. To solve the contradiction between the rapidity and stability of ordinary PID controller, we studied the FCMAC-PID controller to ensure the stability and the rapidity had been improved. Simulation results show that the compensation controller can effectively eliminate the disturb- ance, and the system can quickly and accurately track the load spectrum.

关 键 词：电液伺服加载 多余力矩 前馈补偿 FCMAC—PID 

分 类 号：TH137[机械工程—机械制造及自动化] TP23[自动化与计算机技术—检测技术与自动化装置]