基于自适应鲁棒的电液伺服转台双马达同步控制  

Adaptive Robust Synchronous Control for Flight Simulator Driven by Dual Hydraulic Motors

作　　者：郑宇 张志龙 施卫科 张健[1] 安东 孙京阳 ZHENG Yu;ZHANG Zhi-long;SHI Wei-ke;ZHANG Jian;AN Dong;SUN Jing-yang(Science and Technology on Space Physics Laboratory, China Academy of Launch Vehicle Technology, Beijing 100076)

机构地区：[1]中国运载火箭技术研究院空间物理重点实验室,北京100076

出　　处：《液压与气动》2020年第7期163-168,共6页Chinese Hydraulics & Pneumatics

摘　　要：转台是航空航天半实物仿真系统的重要装备,双马达驱动的电液伺服转台具有速度高、加速度大、频响快等优点。针对转台外框双马达的同步问题,建立了转台的动力学模型。该模型考虑了外框的机械耦合、中框旋转造成的惯量扰动等因素对马达输出的影响。基于该模型提出了变惯量自适应鲁棒同步控制(Adaptive Robust Synchronous Control with Inertia Disturbance,ARSCI)方法,有效提高了双马达的跟踪精度和同步性能。通过Lyapunov方法证明,只要选择合适控制器参数,就能保证所有的系统状态有界。最后通过仿真研究,证明了该方法的有效性。The flight simulator(FS)is an important equipment of the hardware in the loop system(HILS).The FS driven by dual hydraulic motors can move in high speed;high acceleration and with fast response.To improve the synchronous performance of the dual motors;the dynamic model of the FS is derived.The mechanical coupling and the inertia disturbance in the yaw direction are all considered in this model.The adaptive robust synchronous controller with the consideration of the inertia disturbance(ARSCI)is proposed to improve the tracking and synchronization performance for the FS.The Lyapunov method is applied to analyze the characteristics of the proposed ARSCI;and shows that all system state variables are bounded with the suitable controller parameters.The simulation is performed to varify the proposed method.

关 键 词：转台 同步控制 液压马达 自适应鲁棒控制 

分 类 号：TH137[机械工程—机械制造及自动化] V448.253[航空宇航科学与技术—飞行器设计]