飞机舵机电动伺服系统复合控制策略研究  

Research on Composite Control Strategy of Aircraft Rudder Electric Servo System

作　　者：刘晓琳 刘畅 郭艾佳 LIU Xiao-lin;LIU Chang;GUO Ai-jia(Key Laboratory for Advanced Signal Processing,Civil Aviation University of China,Tianjin 300300,China;College of Electric Information and Automation,Civil Aviation University of China,Tianjin 300300,China)

机构地区：[1]中国民航大学天津市智能信号与图像处理重点实验室,天津300300 [2]中国民航大学电子信息与自动化学院,天津300300

出　　处：《组合机床与自动化加工技术》2022年第3期80-83,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：中央高校基金(3122018C002);天津市自然科学基金(17JCYBJC18200);中国民航大学第十一届波音基金项目(20210715113)。

摘　　要：针对飞机舵机电动伺服系统存在非线性干扰的问题,在分析系统运动特点的基础上,重构数学模型,并提出一种结合改进库仑-粘滞摩擦补偿控制与模糊自适应准PR控制的复合控制策略。一方面通过引入反正切平滑函数改善常规库仑-粘滞模型的平滑度,并利用改进模型得到摩擦力估计值以补偿实际摩擦扰动的影响;另一方面,将模糊自适应控制与准PR控制结合,通过前者实现后者参数的在线调节,设计了模糊自适应准PR控制器以补偿舵机运动扰动的影响。仿真结果表明,工作频率为5 Hz时,实际跟踪力矩幅值差仅为0.23%,相位差仅为0.05%,经过0.40 s后,加载误差稳定在0.18 N·m以下,系统加载精度明显提升。In order to solve the problem of nonlinear disturbance in the electric servo system of aircraft rudder,the mathematical model is reconstructed after analyzing the motion characteristics of the system,and a compound control strategy combining improved Coulomb-viscous friction compensation control and fuzzy adaptive quasi PR control is proposed.On the one hand,the anti tangent smoothing function is introduced to improve the smoothness of the conventional Coulomb viscosity model,and the estimated friction value is obtained by using the improved model to compensate for the influence of the actual friction interference.On the other hand,the fuzzy adaptive control is combined with the quasi PR control to realize the online adjustment of the parameters of the latter,which compensates the disturbance caused by the active motion of the actuator.The simulation results show that when the working frequency is 5 Hz,the actual tracking torque amplitude difference is only 0.23%,and the phase difference is only 0.05%.After 0.40 s,the loading error is stable below 0.18 N·m,and the loading accuracy of the system is significantly improved.

关 键 词：电动伺服系统 非线性干扰 加载精度 库仑-粘滞 模糊自适应 准PR控制 

分 类 号：TH165[机械工程—机械制造及自动化] TG66[金属学及工艺—金属切削加工及机床]