基于模型跟随自适应控制的电液位置伺服系统重构控制  

Model Following Adaptive Control Based on Reconfiguration Control for Electro-hydraulic Position Servo System

作　　者：王灿 杨忠[1] 张钊[2] 刘舒畅 陈爽 张小恺 Wang Can;Yang Zhong;Zhang Zhao;Liu Shuchang;Chen Shuang;Zhang Xiaokai(Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Zhejiang University,Hangzhou 310058,China;Aviation Key Laboratory of Science and Technology on Aero Elec-tromechanical System Integration,Nanjing 211106,China)

机构地区：[1]南京航空航天大学,江苏南京211106 [2]浙江大学,浙江杭州310058 [3]航空机电综合航空科技重点实验室,江苏南京211106

出　　处：《航空科学技术》2024年第3期103-110,共8页Aeronautical Science & Technology

基　　金：航空科学基金(201928052006)。

摘　　要：航空机电系统中电液位置伺服系统(EHPSS)组件故障易引发连锁反应,对此,本文提出了一种基于模型跟随自适应控制的重构控制器。首先,根据电液位置伺服系统的组成结构、工作原理以及典型组件故障机理,分别建立其标称模型与故障模型;然后,结合模型跟随理论与Lyapunov稳定性理论,设计了模型跟随自适应重构控制器,该控制器不需要故障先验信息,仅根据故障系统的状态与参考模型状态之间的广义误差,在线调整自适应控制器参数,使得当时间趋向无穷大时,广义误差信号逐渐收敛于零,不仅可以保证系统的稳定性,还具有自适应速度快的优点;最后,通过多种故障情况下的位移跟踪试验,验证了该重构控制方法的重构控制能力和鲁棒性。本文所提出的建模与控制方法对于机电系统重构控制的未来研究具有参考价值。Aiming at the problem of chain reaction caused by component faults of electro-hydraulic position servo system,a reconfiguration controller based on model following adaptative control is proposed in this paper.According to the structure,working principles and typical component fault mechanisms of electro-hydraulic position servo system,its nominal model and fault model are established respectively.A model following adaptive reconfiguration controller is designed based on Lyapunov stability theory and model following theory.It does not need any advanced fault information,and only adjusts the parameters of the adaptive controller online according to the generalized error between the state of the fault system and the reference model,so that when the time tends to infinity,the generalized error signal gradually converges to zero.It can not only ensure the stability of the system,but also has the advantage of fast adaptive speed.The robustness and reconfiguration control capability of the method are verified by displacement tracking simulation under various fault cases.The modeling and control method proposed in this article has reference value for future research on recomfigurable control of electromechanical systems.

关 键 词：电液位置伺服系统 模型跟随自适应控制 组件故障 重构控制 故障建模 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]