电动负载模拟系统自适应控制系统设计
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摘要
为了有效抑制电动负载模拟系统多余力矩,从而提高系统加载力矩的输出精度,设计了一种自适应抑制位置干扰力矩的控制方法。基于前馈控制与自适应控制原理,使用MATLAB仿真软件对该方法的有效性作了分析,并进行了试验验证。仿真与试验结果表明:该方法能自适应调节系统加载误差,且舵机运动频率越高,系统跟踪误差调节时间越长;当加载力矩和舵机运动幅值相同时,舵机运动频率越高,该控制方法对系统多余力矩的抑制效果越明显;当加载力矩和舵机运动频率相同时,舵机运动幅值越大,抑制效果越明显。该控制方法能够在系统部分参数未知或者渐变的情况下,有效抑制系统多余力矩。研究结果对飞行器电动负载模拟器的设计具有一定参考价值。
In order to eliminate the redundant moment of force of the electric load simulation system(ELSS) and improve the output accuracy of the system loading torque,a kind of adaptive control method for eliminating position disturbance torque of steering engine was designed.Based on the feed forward control and adaptive control theory,the effectiveness of the method was analyzed by MATLAB simulation software and the experimental verification was carried out.Simulations and experimental results showed that the method could adaptively adjust the system loading error,and the higher the frequency of the steering engine was,the longer the tracking error could be adjusted.In the same conditions of the loading torque and amplitude phase of the steering engine,the higher the steering engine frequency was,the more obvious the inhibitory effect of the control method to the redundant moment of force was.In the same conditions of the loading torque and movement frequency of the steering engine,the greater the amplitude phase of steering engine was,the more obvious the inhibitory effect was.The method can stabilize the system in an ideal output state by the output of the reference model when the actual system parameters are unknown or gradually changing.The research results have certain reference values for the design of aircraft electric load simulator.
In order to eliminate the redundant moment of force of the electric load simulation system(ELSS) and improve the output accuracy of the system loading torque,a kind of adaptive control method for eliminating position disturbance torque of steering engine was designed.Based on the feed forward control and adaptive control theory,the effectiveness of the method was analyzed by MATLAB simulation software and the experimental verification was carried out.Simulations and experimental results showed that the method could adaptively adjust the system loading error,and the higher the frequency of the steering engine was,the longer the tracking error could be adjusted.In the same conditions of the loading torque and amplitude phase of the steering engine,the higher the steering engine frequency was,the more obvious the inhibitory effect of the control method to the redundant moment of force was.In the same conditions of the loading torque and movement frequency of the steering engine,the greater the amplitude phase of steering engine was,the more obvious the inhibitory effect was.The method can stabilize the system in an ideal output state by the output of the reference model when the actual system parameters are unknown or gradually changing.The research results have certain reference values for the design of aircraft electric load simulator.
引文
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[15]KARIM Khayati.Force control loop affected by bounded uncertainties and unbounded inputs for pneumatic actuator systems[J].Journal of Dynamic Systems,Measurement,and Control,2008,130(1):1-8.
[16]刘彦呈,刘厶源,王川,等.UUV推进电机在线参数辨识自适应控制方法研究[J].电机与控制学报,2016,20(4):34-40.LIU Yan-cheng,LIU Si-yuan,WANG Chuan,et al.Research on online parameter identification and adaptive control of UUV propulsion motor[J].Electric Machines and Control,2016,20(4):34-40.
[17]杨雪松,李长春,延皓,等.基于矢量匹配的扰动力矩消除方法[J].兵工学报,2016,37(2):348-356.YANG Xue-song,LI Chang-chun,YAN Hao,et al.Vector matching-based disturbance torque elimination method[J].Acta Armamentarii,2016,37(2):348-356.
[18]董雪仰,戈新生.航天器太阳帆板展开过程最优控制的自适应Gauss伪谱法[J].应用数学与力学,2016,37(6):655-664.DONG Xue-yang,GE Xin-sheng.The adaptive Gauss pseudospectral method for the optimal control of spacecraft solar array deployment[J].Applied Mathematics and Mechanics,2016,37(6):655-664.
[2]王鑫,冯冬竹.引入弹簧杆的电动负载模拟器实验研究[J].电机与控制学报,2012,16(9):91-94.WANG Xin,FENG Dong-zhu.Experimental research on DC load simulator test bed with elastic rod[J].Journal of Electric Machines and Control,2012,16(9):91-94.
[3]KABOLI S,ZOLGHADRI M R,HAGHBIN S,et al.Effects of the flux value on the torque ripple of the direct torque controlled induction motor drives determination[J].A Power Electronics and Drive Systems,2003,(1):439-444.
[4]符文星,孙力,于云峰,等.电动负载模拟器控制系统设计[J].西北工业大学学报,2008,26(5):621-622.FU Wen-xing,SUN Li,YU Yun-feng,et al.Improving design of control system for DC motor-driven torque control simulator[J].Journal of Northwestern Polytechnical University,2008,26(5):621-622.
[5]QUANG Truong-dinh,KYOUNG Kwan-ahn,JONG Il Yoon.Introduction to quantitative feedback theory for robust force control of load simulator[C]//Proceedings of the Second International Conference on Communications and Electronics.Hoian,Vietnam,Jun.4-6,2008:42-47.
[6]WANG X,FENG D Z.A study on dynamics of electric load simulator using spring beam and feedforward control technique[C].Chinese Control and Decision Conference.Guilin:IEEE Computer Society,2009:301-306.
[7]李成功,靳红涛,焦宗夏.电动负载模拟器多余力矩产生机理及抑制[J].北京航空航天大学学报,2006,32(2):204-208.LI Cheng-gong,JIN Hong-tao,JIAO Zong-xia.Mechanism and suppression of extraneous torque of motor driver load simulator[J].Journal of Beijing University of Aeronautics and Astronautics,2006,32(2):204-208.
[8]郭行,陈康,孙力,等.一种引入位置比例控制提高电动负载模拟器性能的控制系统设计方法[J].西北工业大学学报,2014,32(2):235-239.GUO Xing,CHEN Kang,SUN Li,et al.An effective method for designing control system of motor-driven torque control simulator by introducing position proportional control[J].Journal of Northwestern Polytechnical University,2014,32(2):235-239.
[9]汪成文,焦宗夏,罗才瑾.基于改进的速度同步控制的电液负载模拟器[J].航空学报,2012,33(9):1717-1725.WANG Cheng-wen,JIAO Zong-xia,LUO Cai-jin.An improved velocity synchronization control on electro-hydraulic load simulator[J].Acta Aeronautica ET Astronautica Sinica,2012,33(9):1717-1725.
[10]王刚,李建府,朱荣刚.CMAC改进算法在电动负载模拟器的应用[J].电光与控制,2011,18(4):72-76.WANG Gang,LI Jian-fu,ZHU Rong-gang.Application of an improved arithmetic based on CMAC in electrical load simulator[J].Electronics Optics&Control,2011,18(4):72-76.
[11]刘晓琳,王春婷,袁昆.电液负载模拟器的多余力抑制方法研究[J].计算机仿真,2015,32(7):23-27.LIU Xiao-lin,WANG Chun-ting,YUAN Kun.Research of strategy to restrain surplus force of electrohydraulic loading simulator system[J].Computer Simulation,2015,32(7):23-27.
[12]杨钢,刘迎雨,杜经民,等.基于模糊PID控制器的电液负载模拟系统[J].华中科技大学学报(自然科学版),2012,40(4):59-62.YANG Gang,LIU Ying-yu,DU Jing-min,et al.Electro-hydraulic load systems based on fuzzy PID controller[J].Journal of Huazhong University of Science and Technology(Natural Science Edition),2012,40(4):59-62.
[13]HAN S S,JIAO Z X,YAO J Y,et al.Compound velocity synchronizing control strategy for electro-hydraulic load simulator and its engineering applications[J].Journal of Dynamic Systems,Measurement,and Control,2014,136(5):1-13.
[14]SHANG Y,JIAO Z,WANG X.Study on friction torque loading with an electro-hydraulic load simulator[J].Chinese Journal of Aeronautics,2009,22(6):691-699.
[15]KARIM Khayati.Force control loop affected by bounded uncertainties and unbounded inputs for pneumatic actuator systems[J].Journal of Dynamic Systems,Measurement,and Control,2008,130(1):1-8.
[16]刘彦呈,刘厶源,王川,等.UUV推进电机在线参数辨识自适应控制方法研究[J].电机与控制学报,2016,20(4):34-40.LIU Yan-cheng,LIU Si-yuan,WANG Chuan,et al.Research on online parameter identification and adaptive control of UUV propulsion motor[J].Electric Machines and Control,2016,20(4):34-40.
[17]杨雪松,李长春,延皓,等.基于矢量匹配的扰动力矩消除方法[J].兵工学报,2016,37(2):348-356.YANG Xue-song,LI Chang-chun,YAN Hao,et al.Vector matching-based disturbance torque elimination method[J].Acta Armamentarii,2016,37(2):348-356.
[18]董雪仰,戈新生.航天器太阳帆板展开过程最优控制的自适应Gauss伪谱法[J].应用数学与力学,2016,37(6):655-664.DONG Xue-yang,GE Xin-sheng.The adaptive Gauss pseudospectral method for the optimal control of spacecraft solar array deployment[J].Applied Mathematics and Mechanics,2016,37(6):655-664.