• •    

电动舵机伺服系统高精度自适应反演控制

陈晓雷1,林辉2   

  1. 1. 西北工业大学
    2. 西工大自动化学院
  • 收稿日期:2015-03-13 修回日期:2015-06-30 发布日期:2015-07-06
  • 通讯作者: 陈晓雷
  • 基金资助:
    国家自然科学基金;高等学校博士学科点专项科研基金

High performance adaptive backstepping control for electromechanical actuator servo system

  • Received:2015-03-13 Revised:2015-06-30 Published:2015-07-06
  • Supported by:
    The National Natural Science Foundation of China

摘要: 飞行控制中通常对舵面控制的容许误差范围提出严格限制。为克服现有控制方法存在的若干缺陷,针对电动舵机伺服系统存在的高阶非线性、参数时变及未建模动态,提出一种自适应反演控制策略。建立永磁同步电机驱动的电动舵机系统模型,设计自适应律实时估计未知负载力矩及模型中的未知参数,为消除未建模动态引起的稳态误差,在反演控制律的设计中引入积分项。设计障碍Lyapunov函数实现对舵面转角误差范围的约束,实现高精度控制。应用Lyapunov方法证明闭环系统的全局渐进稳定性,控制过程中舵面跟踪误差始终保持在约束区间内。仿真及试验结果表明,所提控制方法具有较强的自适应能力,与传统反演控制相比,控制精度得到显著提升。

关键词: 电动舵机, 永磁同步电机, 自适应反演控制, 障碍Lyapunov函数, 自适应控制, 约束

Abstract: In the flight control problem, the output tracking error of the rudder deflection has a strict limit. It was challenging for a traditional controller to achieve the requirements of high control accuracy owing to the higher order nonlinearity, variations in system parameters and unmodelled dynamics in electromechanical actuator servo system. To overcome the shortcoming of the classical control scheme, a barrier Lyapunov function based adaptive backstepping control is proposed. The mathematic model of the PMSM servo actuator system is established. An update law is designed to estimate the unknown system parameters and external load disturbances. To eliminate the steady state error caused by the unmodeled dynamics, an integral term is introduced into the backstepping control law. A barrier Lyapunov function is designed to strain to the steady state error in a certain area. It is, in turn, that steady state accuracy is enhanced. A strict Lyapunov-based proof ensures that the closed loop system is global stable, and the tracking error remains within the constraints of the interval. The simulation results and experiment results show that the control scheme proposed has a good capacity to deal with the model parameter uncertainty. Compared with the classical backstepping control schemes, the performance of the system is enhanced obviously.

Key words: electromechanical actuator, Permanent Magnet Synchronous Motors, adaptive backstepping control, Barrier Lyapunov function, adaptive control, Constraints


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发