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摘要:
飞机多电/全电化技术的发展使得余度机电作动系统广泛应用于飞控舵面作动系统中，但其在主动/主动工作模式下由于作动器输出不同步而造成的力纷争问题仍需解决。针对该问题，建立了系统完整的线性数学模型，分析了动态力纷争的来源和机理，研究并提出了基于速度和加速度前馈补偿控制、基于力差值反馈的PID控制联合作用的动态力均衡控制方法，并对其均衡能力及鲁棒性进行验证，结论得出所提方法不仅可以有效地减弱摩擦、间隙和指令延迟这3个因素造成的动态力纷争，还对系统中各种参数的扰动有一定的鲁棒性。
Abstract:Redundant electromechanical actuation systems are frequently utilized in flight control surface actuation systems as a result of advancements in more-electric/all-electric aircraft technology. However, a solution to the force fight brought on by actuator output asynchrony in active / active working mode is still pending. To solve this problem, a complete linear mathematical model of the system is established, the causes of dynamic force fight are analyzed, a dynamic force equalization control method based on the combined action of speed and acceleration feedforward compensation control and PID control based on force difference feedback is studied and proposed, and its equalization ability and robustness are verified. The dynamic force equalization is found to be robust against the disturbance of various system parameters and to be able to successfully minimize the dynamic force fight caused by friction, backlash, and command delay.
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图 7 基于速度与加速度的前馈补偿控制
Figure 7. Feedforward compensation control based on velocity and acceleration
图 9 摩擦因素下的动态力均衡验证
Figure 9. Verification of dynamic force equalization under friction factors
表 1 关键因素模型数值
Table 1. Key factor model values
参数 数值 最大静摩擦力矩/（N∙m） 0.25 库伦摩擦力矩/（N∙m） 0.1 临界速度/（rad·s−1） 9.6 粘滞摩擦系数 0.00137 间隙宽度/mm 0.4 延迟时间/ms 10 
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表 2 仿真评估指标
Table 2. Simulation evaluation indicators
序号 指标 1 位置指令下的动态力纷争，负峰值DffMin1 2 位置指令下的动态力纷争，正峰值DffMax1 3 外部负载指令下的动态力纷争，负峰值DffMin2 4 外部负载指令下的动态力纷争，正峰值DffMax2 5 位置指令下的静态力纷争Sff1 6 外部负载指令下的静态力纷争Sff2
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表 3 仿真参数
Table 3. Simulation parameters
分布类型 参数的数学期望 数值 参数的方差 数值 正态 绕组电阻/Ω 1.77 绕组电阻/Ω2 0.08 正态 绕组电感/H 0.012 绕组电感/H2 0.006 正态 转动惯量/(kg·m2) $1.1 \times {10^{ - 4}}$ 转动惯量/(kg2·m4) $ 5.5 \times {10^{ - 5}} $ 正态 电磁转矩系数 0.067 电磁转矩系数 0.005 正态 反电势系数/(V·s·rad−1) 0.067 反电势系数/(V2·s2·rad−2) 0.005 均匀 传感器反馈增益 −0.02(下限) 传感器反馈增益 0.02(上限) 均匀 指令信号延迟/s 0(下限) 指令信号延迟/s2 0.04(上限) 均匀 传动间隙/m 0(下限) 传动间隙/m2 $4 \times {10^{ - 4}}$(上限) 正态 库伦摩擦/(${\text{N}} \cdot {\text{m}}$) 0.10 库伦摩擦/(${\text{N}}^2 \cdot {\text{m}}^2$) 0.02 正态 最大静摩擦/(${\text{N}} \cdot {\text{m}}$) 0.25 最大静摩擦/(${\text{N}}^2 \cdot {\text{m}}^2$) 0.019 正态 Stribeck速度/(rad·s−1) 9.6 Stribeck速度/(rad2·s−2) 0.48 正态 粘滞摩擦系数 $1.37 \times {10^{ - 3}}$ 粘滞摩擦系数 $2.6 \times {10^{ - 4}}$ 均匀 连接刚度/(${\text{N}} \cdot {\text{m}}$−1) $1.0 \times {10^8}$ 连接刚度/(${\text{N}}^2 \cdot {\text{m}}^{-2}$) $2.0 \times {10^8}$ 外部负载/N 4000 外部负载/N2 4000
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