飞机舵机电动加载系统多余力矩抑制方法  

Method to restrain extra torque of aircraft rudder electric loading system

作　　者：刘晓琳 李卓 LIU Xiaolin;LI Zhuo(College of Electric Information and Automation, Civil Aviation University of China, Tianjin 300300, China)

机构地区：[1]中国民航大学电子信息与自动化学院,天津300300

出　　处：《系统工程与电子技术》2019年第6期1366-1373,共8页Systems Engineering and Electronics

基　　金：中央高校基金(3122018C002);天津市自然科学基金(17JCYBJC18200);波音基金(20180159202);大学生创新创业训练计划项目(201910059120;201910059121)资助课题

摘　　要：针对飞机舵机电动加载系统存在多余力矩干扰的问题,提出了以改进型基于信度分配的小脑模型关节控制器为前馈控制,以增量式比例积分微分(proportion integral derivative,PID)为反馈控制的复合控制策略。在前馈控制器中,结合变刚度金属-橡胶缓冲弹簧、力矩测速反馈及梯度加载法,采用基于Sigmoid函数变平衡学习常数的权值调整算法,设计三维参考输入型神经网络结构。在反馈控制器中,采用增量式PID控制解决积分项溢出问题,同时为神经网络提供训练学习样本,最后通过理论分析证明改进算法的收敛特性及闭环系统的稳定性。仿真结果表明,该方法提高了系统的加载精度及在线实时控制能力,在一定程度上抑制了多余力矩干扰。In order to solve the problem caused by extra torque of aircraft rudder electric loading system, a hybrid control strategy is proposed where the improved credit assignment cerebellar model articulation controller is applied for feedforward control and the incremental proportion integral derivative (PID) is applied for feedback control. The feedforward controller of three-dimensional input neural network structure is designed, which is combined with variable stiffness metal-rubber buffer spring, the feedback of torque velocity and gradient loading method, in view of weight adjusting algorithm of variable balanced learning constant based on Sigmoid function. The feedback controller of incremental PID can not only solve the shortcoming of integral term overflow, but also provide training learning samples for the neural network. Finally, the convergence characteristic of the improved algorithm and the stability of the closed-loop system are shown through the theoretical analysis. The simulation results show that the method can effectively improve the loading accuracy and the capability of online real-time control, and to some extent suppress the extra torque.

关 键 词：电动加载系统 多余力矩 神经网络 SIGMOID函数 金属-橡胶缓冲弹簧 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]