面向航电操纵杆的检测装置设计及柔性控制算法  

Design of Detection Device and Compliant Control Algorithm for Avionics Center Stick

作　　者：李智琦 孙涛[1] 朱笑笑[1] 曹其新[1] LI Zhiqi;SUN Tao;ZHU Xiaoxiao;CAO Qixin(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械与电子》2023年第11期28-36,共9页Machinery & Electronics

摘　　要：在自动化航电联调联试检测系统中,为解决航电系统操纵杆在自动化检测中存在环境复杂、开关密集紧凑和待检测方位较多等问题,设计了基于电动气动联合方案的操纵杆检测装置,并提出了基于转矩观测器的柔性控制方法,以检测航电系统中操纵杆上的多方位开关。操纵杆检测装置的设计通过电机与气缸的有效组合,可以在紧凑的环境中完成操纵杆上四方位拨杆、八方位按钮等开关全部功能的检测。此外,针对操纵杆检测装置建立机器人关节动力学模型,引入永磁同步电机模型、动态LuGre摩擦模型和关节刚度模型,基于广义动量观测关节力矩并实现柔性控制。通过在模拟平台和实际联调环境下进行参数辨识和开关操作实验,证明了该操纵杆检测装置及控制算法能够有效检测操纵杆,并提高了开关检测的安全性和效率。In the automated testing system for aviation electronic control system calibration and testing,a center stick detection device based on an electric-pneumatic hybrid scheme was designed to solve the problems of complex environment,compact and dense switches,and multiple orientations of the center stick in automated detection.A compliant control method based on torque observer was proposed to detect the multi-directional switches on the center stick in the aviation electronic control system.The design of the center stick detection device,through the effective combination of the motor and the cylinder,can achieve the detection of all functions of the four-way lever and eight-way button switches on the center stick in a compact environment.In addition,the permanent magnet synchronous motor model,dynamic LuGre friction model,and joint stiffness model are introduced to establish a robotic joint dynamic model for the center stick detection device.Based on the generalized momentum,the observed joint torque is utilized to achieve compliant control.Through parameter identification and switch operation experiments conducted in simulation platforms and actual calibration environments,it was demonstrated that the proposed center stick detection device and control algorithm can effectively detect the center stick and improve the safety and efficiency of switch detection.

关 键 词：执行器设计 转矩观测器 摩擦补偿 电机转矩模型 航电系统 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] V243[自动化与计算机技术—控制科学与工程]