舵机电液伺服加载系统复合抗扰控制及仿真  

Compound disturbance rejection control and simulation of rudder electro-hydraulic servo loading system

作　　者：王闯 牛文生 李阳 贺莹 WANG Chuang;NIU Wen-sheng;LI Yang;HE Ying(Aviation Industries of China Airborne System Generic Technology Co.,Ltd.,Yangzhou 225000,China)

机构地区：[1]中航机载系统共性技术有限公司,江苏扬州225000

出　　处：《机电工程》2023年第4期475-484,共10页Journal of Mechanical & Electrical Engineering

基　　金：工业和信息化部民用飞机专项科研项目(MJZ4-3N21)。

摘　　要：为了解决飞机舵机电液加载系统的多余力控制问题,以及其性能受到干扰的影响问题,提出了一种基于数据驱动的包含反馈控制器和前馈控制器的复合抗扰控制方法。首先,设计了一种线性自抗扰控制器(LADRC),利用扩张状态观测器(ESO)对系统的不确定性与所受的多源干扰进行了估计,采用干扰补偿器和反馈控制器对干扰进行了抑制,进而保证了系统的闭环控制性能;接着,通过前馈控制器的调节,提升了系统的暂态和稳态性能;采用了基于数据的带约束的迭代反馈调节方法,通过输入输出试验数据,对控制参数进行了优化,以整定复合抗扰控制器的参数;最后,通过MATLAB/Simulink和AMESim进行了联合仿真,以验证基于数据驱动的复合抗扰控制方法的有效性。研究结果表明:相比于PID控制器,在阶跃响应下,经过迭代反馈调节(IFT)优化的复合抗扰控制方法调节时间缩短了52%,超调缩小了62%,稳态误差降低了20%;相较于传统PID控制方案,在阶跃响应和正弦指令力信号下,基于数据驱动的复合抗扰控制方法系统跟踪误差分别缩小了约32%和73%。Aiming at the problems caused by extra torque of aircraft rudder electro-hydraulic loading systems,a data-driven compound disturbance rejection control method including feedback controller and feedforward controller was proposed.Firstly,a linear active disturbance rejection controller(LADRC)was designed to estimate the uncertainty and multi-source interference of the system through the extended state observer(ESO),and suppress the interference through the interference compensator and feedback controller,thus ensuring better control performance of the closed-loop system.Then,the feedforward controller was used to regulate and improve the transient and steady-state performance of the system.In order to adjust the parameters of the compound disturbance rejection controller,the iterative feedback adjustment method based on data was adopted,and the considered control parameters was optimized through the input and output test data.Finally,the joint simulation test was carried out through MATLAB/Simulink and AMESim simulation platform.The results indicate that the adjustment time is reduced by 52%,the overshoot is reduced by 62%,and the steady-state error is reduced by 20%under the step response of the iterative feedback tuning(IFT)optimized compound disturbance rejection control method.Comparing with the traditional PID control scheme,the proposed method respectively reduces the system tracking error by 32%and 73%under the step response and sinusoidal command force signals.

关 键 词：电液伺服系统 数据驱动 线性自抗扰控制器 扩张状态观测器 抗干扰控制 迭代反馈调节 鲁棒性 

分 类 号：TH137.52[机械工程—机械制造及自动化] V227[航空宇航科学与技术—飞行器设计] TP273.3[自动化与计算机技术—检测技术与自动化装置]