鲁棒近似时间最优的EMA位置伺服策略研究  

Proximate Time Optimal EMA Position Servo Control Strategy

作　　者：张瑶 赵东标[1] 付文强 ZHANG Yao;ZHAO Dongbiao;FU Wenqiang(College of Mechanical & Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)

机构地区：[1]南京航空航天大学机电学院,南京210016

出　　处：《机械科学与技术》2022年第2期316-321,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家重点基础研究发展计划项目(2014CB046501)。

摘　　要：针对EMA(机电作动器)伺服系统中常见的速度限幅处理以及高动态响应要求,提出了一种基于1阶LADRC(线性自抗扰控制算法)速度环的PTOC(鲁棒近似时间最优位置控制)控制策略。将速度环与位置环控制律进行结合,避免一般PTOC伺服系统中对速度控制律与位置控制律的切换。分析了速度环不同工作状态下对PTOC控制律的影响,分别设计了速度环饱和以及非饱和工作状态下的PTOC控制律。针对典型PTOC控制律中参数选择过于保守的问题,提出了一种基于可变切换区和线性区的改进方法,并且给出了稳定性证明。仿真实验结果表明,提出的控制策略能够有效提高EMA的位置伺服动态性能以及对扰动的抵抗能力。To satisfy speed limit requirements and high dynamic response requirements for an EMA(electro-mechanical actuator)servo system,a robust PTOC(approximate time optimal control)position control strategy based on the first-order linear active disturbance rejection control speed controller is proposed.By combining speed loop dynamics with position loop control laws,the switching between speed control law and position control law in the general PTOC servo system is avoided.The effect of the speed controller on the PTOC control law under different working conditions is analyzed,and the PTOC control law under the saturated and unsaturated working conditions of the speed loop is proposed respectively.To solve the problem of conservative parameter selection with the typical PTOC control law,an improved method based on variable switching region and linear region is proposed.The stability proof is given.The simulation results show that the proposed control strategy can enhance the dynamic performance of the EMA position servo and its disturbance rejection ability.

关 键 词：机电作动器 线性自抗扰控制 鲁棒近似时间最优 可变切换区 速度限幅 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]