北京航空航天大学学报 ›› 2014, Vol. 40 ›› Issue (10): 1411-1416.doi: 10.13700/j.bh.1001-5965.2013.0689

• 论文 • 上一篇    下一篇

电液飞行转台的分数阶积分滑模非线性控制

韩松杉, 焦宗夏, 汪成文, 尚耀星, 石岩   

  1. 北京航空航天大学 飞行器控制一体化技术重点实验室, 北京 100191
  • 收稿日期:2013-11-28 出版日期:2014-10-20 发布日期:2014-10-29
  • 通讯作者: 焦宗夏 E-mail:zxjiao@buaa.edu.cn
  • 作者简介:韩松杉(1985-),男,河南温县人,博士生,hansongshan@gmail.com;
  • 基金资助:

    国家973计划资助项目(2014CB046406)

Fractional integral sliding mode nonlinear controller of electrical-hydraulic flight simulator

Han Songshan, Jiao Zongxia, Wang Chengwen, Shang Yaoxing, Shi Yan   

  1. Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2013-11-28 Online:2014-10-20 Published:2014-10-29

摘要:

电液飞行转台是飞控系统半实物仿真测试的关键设备,它是在实验室条件下复现飞行器运动姿态的高精尖试验设备,具有重大经济价值和国防战略意义.为提高该设备的动态跟踪精度,提出一种基于分数阶积分滑模的非线性鲁棒控制策略.在积分滑模控制器中引入分数阶算子,能更有效地提升系统瞬态响应,并能提供更多的控制自由度.同时基于 Lyapunov 分析方法证明了该控制器在存在参数不确定、强外干扰力矩和未知非线性摩擦特性等情况下仍能保证系统的全局渐近稳定性.以某型电液飞行转台外框阀控马达为例,针对多种运动工况进行仿真分析,结果表明该方法能有效提高系统的瞬态性能和鲁棒能力.

关键词: 液压伺服机构, 飞行转台, 分数阶, 滑模控制, 非线性控制系统

Abstract:

Electrical-hydraulic flight motion simulator is the key equipment in hardware-in-the-loop testing of flight control systems. It can accurately reproduce, in real-time, the flight motion of aerial vehicles under laboratory conditions, which has great economic value and plays a very important role in the national defense. Based on fractional integral sliding mode surface, a nonlinear robust controller was proposed to improve its dynamic tracking accuracy. This nonlinear robust control approach introduces fractional order calculus in integral sliding mode controller, which can further improve transient performance and offer more degrees of freedom. In presence of strong disturbance torque, parametric uncertainty and nonlinear friction, the globally asymptotic stability of developed nonlinear robust controller was proved via Lyapunov analysis method. Under various working conditions, comparative simulation results of outer-axis's motor in a type of flight simulator demonstrate the effectiveness of the proposed nonlinear robust algorithm, which can guarantee transient performance and effectively improve the robustness.

Key words: hydraulic servomechanisms, flight simulators, fractional order, sliding mode control, nonlinear control systems

中图分类号: 


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