摘要
针对舵机电动负载模拟器(ELSSG)受到多余力矩干扰的问题,提出了一种结合迭代学习控制与误差符号鲁棒积分控制(RISE)的复合控制器。建立了ELSSG的数学模型,分析了多余力矩的产生机理。在硬件结构上,引入了金属-橡胶缓冲弹簧以提高系统稳定性及加载精度;在控制策略上,基于误差符号鲁棒积分控制与自适应遗忘因子改进的引导信号迭代学习控制设计了复合控制器,并证明了该迭代学习控制的收敛条件。通过仿真实验证明了复合控制器与传统迭代学习控制方法、PID控制方法相比,能够更加有效地消除多余力矩干扰,提高ELSSG加载力矩输出精度。
The electric load simulator of aircraft steering gear(ELSSG)is disturbed by redundant torque.To address this issue,a compound controller combining iterative learning control and robust integral control of sign of error(RISE)was proposed.The mathematical model of the load simulator was established,and the generation mechanism of excess torque was analyzed.In terms of the hardware structure,the metal-rubber buffer spring was introduced to improve the stability and loading accuracy of the system.In terms of the control strategy,the compound controller was designed based on the robust integral control of error signs and the iterative learning control of the guidance signal improved by adaptive forgetting factor,and the convergence condition of the iterative learning control was proven.The simulation experiment proves that the compound controller can eliminate the interference from redundant torque more effectively than the traditional iterative learning control method and PID control method and improve the load torque output accuracy of the load simulator.
作者
刘晓琳
李晋恺
LIU Xiaolin;LI Jinkai(School of Electronic Information and Automation,Civil Aviation University of China,Tianjin 300300,China)
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2024年第9期2727-2738,共12页
Journal of Beijing University of Aeronautics and Astronautics
基金
中国民航大学第十一期波音基金(20210715113)。
关键词
舵机电动负载模拟器
多余力矩
迭代学习控制
金属-橡胶缓冲弹簧
遗忘因子
electric load simulator of aircraft steering gear
redundant torque
iterative learning control
metalrubber buffer spring
forgetting factor
