提高大功率机电静压伺服机构动静态性能控制算法研究  

Study on the Control Algorithm to Improve Static and Dynamic Performances of a High Power Electro-Hydrostatic Actuator

作　　者：刘璐[1] 张朋[1] 赵守军[1] 史正强[1] 张小红[1] Liu Lu;Zhang Peng;Zhao Shou-jun;Shi Zheng-qiang;Zhang Xiao-hong(Beijing Research Institute of Precise Mechatronic and Controls,Beijing,100076)

机构地区：[1]北京精密机电控制设备研究所,北京100076

出　　处：《导弹与航天运载技术》2018年第2期82-86,共5页Missiles and Space Vehicles

基　　金：国家科技支撑计划资助项目(2015BAF32B01)

摘　　要：提出融合陷波器、非线性PID和前馈的提高大功率机电静压伺服机构(Electro-Hydrostatic Actuator,EHA)动静态性能的控制算法。陷波器用于抑制负载结构谐振。在此基础上,设计非线性PID和前馈算法,研制了样机,解决了纯比例控制器难以兼顾静态精度、谐振峰值和相位的问题;建立了数学模型,研制样机,并进行了系统仿真和试验研究。结果表明:采用惯性模拟负载台(转动惯量1000kg·m^2),进行0.1°频率特性测试,相比以往算法,在负载结构抑制效果相当的情况下,跟踪精度提高一倍,-45°相频带宽从18.5rad/s扩展至25rad/s,验证了机电静压伺服机构实现大推力火箭发动机高性能摇摆控制的可行性。A control algorithm which comprises a notch filter,a nonlinear PID function and a feed-forward compensation is given to improve static and dynamic performances of a high power electro-hydrostatic actuator.The notch filter is used to suppress the load structural resonance.Moreover,the nonlinear PID function and feed-forward compensation are used to tackle the dilemma of the pure proportional algorithm which cannot balance the static precision,resonance peak and phase lag.Mathematical model are presented,mock-up built,and the system simulation and experimental study performed.It shows that,compared to the old algorithm,in a 0.1°frequency testing to gimbal an inertia load simulator with an inertia of 1000 kg·m2,the tracking precision is upgraded by one time and-45°phase lag increased from 18.5 rad/s to 25 rad/s,while the resonance suppression effect remained similar.The study shows the applicability of EHAs to gimbal high thrust rocket engines with high performance.

关 键 词：机电静压 控制算法 非线性PID 前馈控制 

分 类 号：V433[航空宇航科学与技术—航空宇航推进理论与工程]