Motion synchronization in a dual redundant HA/EHA system by using a hybrid integrated intelligent control design  

作　　者：Waheed Ur Rehman Wang Shaoping Wang Xingjian Fan Lei Kamran Ali Shah 

机构地区：[1]School of Automation Science and Electrical Engineering,Beihang University

出　　处：《Chinese Journal of Aeronautics》2016年第3期789-798,共10页中国航空学报（英文版）

基　　金：supported by the National Basic Research Program of China(973 Program)(No.2014CB046402);the National Natural Science Foundation of China(Nos.51575019,51305011);the 111 Program of China

摘　　要：This paper presents an integrated fuzzy controller design approach to synchronize a dis- similar redundant actuation system of a hydraulic actuator （HA） and an electro-hydrostatic actu- ator （EHA） with system uncertainties and disturbances. The motion synchronous control system consists of a trajectory generator, an individual position controller for each actuator, and a fuzzy force tracking controller （FFTC） for both actuators. The trajectory generator provides the desired motion dynamics and designing parameters of the trajectory which are taken according to the dynamic characteristics of the EHA. The position controller consists of a feed-forward controller and a fuzzy position tracking controller （FPTC） and acts as a decoupled controller, improving posi- tion tracking performance with the help of the feed-forward controller and the FPTC. The FFTC acts as a coupled controller and takes into account the inherent coupling effect. The simulation results show that the proposed controller not only eliminates initial force fighting by synchronizing the two actuators, but also improves disturbance rejection performance.This paper presents an integrated fuzzy controller design approach to synchronize a dis- similar redundant actuation system of a hydraulic actuator （HA） and an electro-hydrostatic actu- ator （EHA） with system uncertainties and disturbances. The motion synchronous control system consists of a trajectory generator, an individual position controller for each actuator, and a fuzzy force tracking controller （FFTC） for both actuators. The trajectory generator provides the desired motion dynamics and designing parameters of the trajectory which are taken according to the dynamic characteristics of the EHA. The position controller consists of a feed-forward controller and a fuzzy position tracking controller （FPTC） and acts as a decoupled controller, improving posi- tion tracking performance with the help of the feed-forward controller and the FPTC. The FFTC acts as a coupled controller and takes into account the inherent coupling effect. The simulation results show that the proposed controller not only eliminates initial force fighting by synchronizing the two actuators, but also improves disturbance rejection performance.

关 键 词：Dissimilar redundant：Electro-hydrostatic actuator Fuzzy control：Hydraulic actuator Motion synchronization Redundant systems 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]