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论文:2023,Vol:41,Issue(1):18-27 |
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引用本文： |
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李婷, 姚叶明, 张临海, 李洋, 王新民. 基于多种未建模动态估计与补偿的电液舵机自适应容错控制[J]. 西北工业大学学报 |
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LI Ting, YAO Yeming, ZHANG Linhai, LI Yang, WANG Xinmin. Adaptive fault-tolerant control for electro-hydraulic servo actuator based on multiple unmodeled dynamics estimation and compensation[J]. Journal of Northwestern Polytechnical University |
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| 基于多种未建模动态估计与补偿的电液舵机自适应容错控制 |
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| 李婷1, 姚叶明2, 张临海2, 李洋1, 王新民1 |
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1. 西北工业大学 自动化学院, 陕西 西安 710072;
2. 航空工业金城南京机电液压工程研究中心, 江苏 南京 211106 |
| 摘要: |
| 针对多种未建模动态影响下的电液舵机内泄漏故障容错控制问题,提出一种基于未建模动态估计与补偿的自适应容错控制方法。将舵机模型划分为2个子系统,分别设计扩展状态观测器估计匹配及非匹配未建模动态。结合未建模动态估计结果,基于反步法设计自适应容错控制器。利用基于内泄漏故障参数自适应更新的控制器重配置调节故障影响,采用前馈补偿方式抑制未建模动态影响。对所提方法进行严重内泄漏条件下的半物理仿真试验,结果表明:当作动筒最大内泄漏流量达到10.53 L/min,即约占伺服阀最大负载流量的56.77％时,伺服阀开口接近最大,所提方法仍可实现高精度的位置跟踪控制,故障暂态及故障后稳态的最大位置跟踪误差均可控制在给定的±1.5％以内。 |
| 关键词:
电液舵机
作动筒内泄漏
未建模动态
扩展状态观测器
自适应容错控制
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| Adaptive fault-tolerant control for electro-hydraulic servo actuator based on multiple unmodeled dynamics estimation and compensation |
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| LI Ting1, YAO Yeming2, ZHANG Linhai2, LI Yang1, WANG Xinmin1 |
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1. School of Automation, Northwestern Polytechnical University, Xi'an 710072, China;
2. AVIC Jincheng Nanjing Engineering Institute of Aircraft System, Nanjing 211106, China |
| Abstract: |
| The internal leakage fault-tolerant control problem of the electro-hydraulic servo actuator under the influence of multiple unmodeled dynamics is investigated in this paper, and an adaptive fault-tolerant control scheme based on unmodeled dynamics estimation and compensation is proposed. The model of the actuator is divided into two subsystems, which extended-state observers are respectively constructed to estimate the matched and mismatched unmodeled dynamics. Combined with the estimation results of the unmodeled dynamics, an adaptive fault-tolerant controller is designed by using the backstepping method. In which a controller reconfiguration mechanism based on internal leakage fault parameter online adaptation is used to accommodate the fault, and a feedforward compensation strategy is used to suppress the influence of unmodeled dynamics. Semi-physical simulation test of the proposed scheme is conducted under serious cylinder internal leakage. The test result shows that when the maximum internal leakage flow reaches 10.53 L/min, accounting for about 56.77％ of the load flow, at the moment the opening of the servovalve is close to the maximum and the proposed scheme can still achieve high-precision position tracking control, where the maximum position tracking errors of fault transient and post-fault steady state are both limited within ±1.5％ of the given position. |
| Key words:
electro-hydraulic servo actuator
internal leakage of the cylinder
unmodeled dynamics
extended state observer
adaptive fault-tolerant control
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| 收稿日期: 2022-04-25
修回日期:
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| DOI: 10.1051/jnwpu/20234110018 |
| 基金项目: 国家自然科学基金(62003271)资助 |
| 通讯作者: 王新民(1951-),西北工业大学教授,主要从事飞控系统设计及飞机作动系统故障诊断技术研究。e-mail:wxmin@nwpu.edu.cn
Email：wxmin@nwpu.edu.cn |
| 作者简介: 李婷(1982-),西北工业大学博士研究生,主要从事飞机作动系统故障诊断与容错控制技术研究。
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| 作者相关文章 |
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| 李婷 在本刊中的所有文章 |
| 姚叶明 在本刊中的所有文章 |
| 张临海 在本刊中的所有文章 |
| 李洋 在本刊中的所有文章 |
| 王新民 在本刊中的所有文章 |
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