航空机电作动伺服系统复合控制策略研究  

A Study on Composite Control Strategy for an Aviation Electromechanical Actuator Servo System

作　　者：代明光 潘亮 李艳龙 DAI Mingguang;PAN Liang;LI Yanlong(School of Automation,Northwestern Polytechnical University,Xi’an 710129,China;Office of the Second Military Representative in the Nanyang Region of the Xi’an Regional Military Representative Office of the Ministry Army Equipment,Nanyang Henan 473000,China;Xi’an ASN Technology Group Co.,Ltd.,Xi’an 710065,China)

机构地区：[1]西北工业大学自动化学院,西安710129 [2]陆军装备部驻西安地区军事代表局南阳地区第二军事代表室,河南南阳473000 [3]西安爱生技术集团有限公司,西安710065

出　　处：《微电机》2023年第2期49-54,共6页Micromotors

摘　　要：针对航空机电作动伺服系统中存在的外界负载扰动、内部未建模动态和参数时变等会严重影响伺服精度的问题,提出了线性扩张状态观测器和全局滑模控制相结合的复合控制策略。建立机电作动伺服系统的非线性状态空间模型,并将建模误差及未建模动态视为未知干扰。通过构建线性扩张状态观测器,实时估计系统扰动,以在设计全局滑模控制律时对其补偿,降低控制律中的不连续项增益,削弱控制量抖振带来的影响。应用Lyapunov方法证明闭环控制系统渐近稳定。理论分析和实验结果表明所提控制方法能有效提高系统的位置伺服精度和抗干扰性能。To solve the problems of external load disturbance, internal unmodeled dynamics and time-varying parameters in the aviation electromechanical actuator servo system, a compound control strategy combining linear extended state observer and global sliding mode control was proposed. The nonlinear state space model of the electromechanical actuator servo system was established, and the modeling errors and unmodeled dynamics were regarded as unknown disturbances. By designing a linear extended state observer, system disturbances were estimated in real time and compensated by the designed global sliding mode control laws. Thereby, the gain of the discontinuous term in the control law was reduced, and the influence of the chattering of the control variable was weakened. The Lyapunov method was used to prove that the closed-loop control system was asymptotically stable. Theoretical analysis and experimental results show that the proposed control method can effectively improve the position servo accuracy and anti-interference performance of the system.

关 键 词：机电作动器 负载扰动 线性扩张状态观测器 全局滑模 

分 类 号：TM351[电气工程—电机] TP273[自动化与计算机技术—检测技术与自动化装置]