Motion synchronization in a dual redundant HA/EHA system by using a hybrid integrated intelligent control design

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• 作者：Waheed Ur Rehman ^{wrehman87@gmail.com" class="auth_mail" title="E-mail the corresponding author}Author Vitae ; Shaoping Wang ^{shaopingwang@vip.sina.com" class="auth_mail" title="E-mail the corresponding author}Author Vitae ; Xingjian Wang ; ^{wangxj@buaa.edu.cn" class="auth_mail" title="E-mail the corresponding author}Author Vitae ; Lei FanAuthor Vitae ; Kamran Ali ShahAuthor Vitae
• 关键词：Dissimilar redundant ; Electro-hydrostatic actuator ; Fuzzy control ; Hydraulic actuator ; Motion synchronization ; Redundant systems
• 刊名：Chinese Journal of Aeronautics
• 出版年：2016
• 出版时间：June 2016
• 年：2016
• 卷：29
• 期：3
• 页码：789-798
• 全文大小：1434 K

文摘

This paper presents an integrated fuzzy controller design approach to synchronize a dissimilar redundant actuation system of a hydraulic actuator (HA) and an electro-hydrostatic actuator (EHA) with system uncertainties and disturbances. The motion synchronous control system consists of a trajectory generator, an individual position controller for each actuator, and a fuzzy force tracking controller (FFTC) for both actuators. The trajectory generator provides the desired motion dynamics and designing parameters of the trajectory which are taken according to the dynamic characteristics of the EHA. The position controller consists of a feed-forward controller and a fuzzy position tracking controller (FPTC) and acts as a decoupled controller, improving position tracking performance with the help of the feed-forward controller and the FPTC. The FFTC acts as a coupled controller and takes into account the inherent coupling effect. The simulation results show that the proposed controller not only eliminates initial force fighting by synchronizing the two actuators, but also improves disturbance rejection performance.