基于多种未建模动态估计与补偿的电液舵机自适应容错控制  

Adaptive fault-tolerant control for electro-hydraulic servo actuator based on multiple unmodeled dynamics estimation and compensation

作　　者：李婷[1] 姚叶明 张临海 李洋 王新民[1] LI Ting;YAO Yeming;ZHANG Linhai;LI Yang;WANG Xinmin(School of Automation,Northwestern Polytechnical University,Xi′an 710072,China;AVIC Jincheng Nanjing Engineering Institute of Aircraft System,Nanjing 211106,China)

机构地区：[1]西北工业大学自动化学院,陕西西安710072 [2]航空工业金城南京机电液压工程研究中心,江苏南京211106

出　　处：《西北工业大学学报》2023年第1期18-27,共10页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(62003271)资助。

摘　　要：针对多种未建模动态影响下的电液舵机内泄漏故障容错控制问题,提出一种基于未建模动态估计与补偿的自适应容错控制方法。将舵机模型划分为2个子系统,分别设计扩展状态观测器估计匹配及非匹配未建模动态。结合未建模动态估计结果,基于反步法设计自适应容错控制器。利用基于内泄漏故障参数自适应更新的控制器重配置调节故障影响,采用前馈补偿方式抑制未建模动态影响。对所提方法进行严重内泄漏条件下的半物理仿真试验,结果表明:当作动筒最大内泄漏流量达到10.53 L/min,即约占伺服阀最大负载流量的56.77%时,伺服阀开口接近最大,所提方法仍可实现高精度的位置跟踪控制,故障暂态及故障后稳态的最大位置跟踪误差均可控制在给定的±1.5%以内。The internal leakage fault-tolerant control problem of the electro-hydraulic servo actuator under the influence of multiple unmodeled dynamics is investigated in this paper,and an adaptive fault-tolerant control scheme based on unmodeled dynamics estimation and compensation is proposed.The model of the actuator is divided into two subsystems,which extended-state observers are respectively constructed to estimate the matched and mismatched unmodeled dynamics.Combined with the estimation results of the unmodeled dynamics,an adaptive fault-tolerant controller is designed by using the backstepping method.In which a controller reconfiguration mechanism based on internal leakage fault parameter online adaptation is used to accommodate the fault,and a feedforward compensation strategy is used to suppress the influence of unmodeled dynamics.Semi-physical simulation test of the proposed scheme is conducted under serious cylinder internal leakage.The test result shows that when the maximum internal leakage flow reaches 10.53 L/min,accounting for about 56.77%of the load flow,at the moment the opening of the servovalve is close to the maximum and the proposed scheme can still achieve high-precision position tracking control,where the maximum position tracking errors of fault transient and post-fault steady state are both limited within±1.5%of the given position.

关 键 词：电液舵机 作动筒内泄漏 未建模动态 扩展状态观测器 自适应容错控制 

分 类 号：V227.82[航空宇航科学与技术—飞行器设计]