基于自适应控制的空气舵位置伺服系统研究  

Research on Position Servo System of Air Rudder on Adaptive Control

作　　者：刘春庆[1] 姜玉峰[1] 于丹[1] 王贺龙 赵辉 LIU Chun-qing;JIANG Yu-feng;YU Dan;WANG He-long;ZHAO Hui(Beijing Research Institute of Precise Mechatronics and Controls,Beijing 100076)

机构地区：[1]北京精密机电控制设备研究所

出　　处：《液压与气动》2020年第3期163-167,共5页Chinese Hydraulics & Pneumatics

摘　　要：针对空气舵位置伺服系统强耦合、强时变、非线性的特点,设计了具有良好鲁棒性能的自适应空气舵位置伺服系统。采用机理法建立伺服系统的数学模型,并在工作频段范围内将系统模型简化降阶处理。建立系统状态空间方程,在此基础上根据Popov超稳定性理论,引入补偿器,设计系统的自适应控制律。通过MATLAB/Simulink进行仿真分析,研究电机力矩系数和铰链力矩差异对伺服系统动态性能的影响。结果表明,基于自适应控制的空气舵位置伺服系统具有良好的控制精度和鲁棒性。In view of the characteristics of strong coupling,strong time-varying and non-linearity of air rudder position servo system,an adaptive air rudder position servo system with good robustness is designed.The mathematical model of the servo system is established by mechanism method,and the system model is simplified and reduced in the working frequency range.The state space equation of the system is established.Based on the Popov hyperstability theory,the compensator is introduced to design the adaptive control law of the system.Through the simulation of MATLAB/Simulink,the influence of the difference between the torque coefficient of the motor and the torque of the hinge on the dynamic performance of the servo system is studied.The results show that the air rudder position servo system based on adaptive control has good control accuracy and robustness.

关 键 词：空气舵 位置伺服系统 模型参考自适应 

分 类 号：TH137[机械工程—机械制造及自动化] TH138