舵机电动负载模拟器迭代学习控制

刘晓琳; 李晋恺

doi:10.13700/j.bh.1001-5965.2022.0711

舵机电动负载模拟器迭代学习控制

doi: 10.13700/j.bh.1001-5965.2022.0711

刘晓琳^,,
李晋恺

中国民航大学电子信息与自动化学院，天津 300300

基金项目: 中国民航大学第十一期波音基金(20210715113)

详细信息

通讯作者:
E-mail：caucyanjiusheng@163.com

中图分类号: V249.1；TP273
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- 被引次数: 0
出版历程
- 收稿日期: 2022-08-13
- 录用日期: 2023-05-15
- 网络出版日期: 2023-06-06
- 整期出版日期: 2024-09-27

Iterative learning control of electric load simulator of aircraft steering gear

LIU Xiaolin^,,
LI Jinkai

School of Electronic Information and Automation，Civil Aviation University of China，Tianjin 300300，China

Funds: The 11th Boeing Fund of Civil Aviation University of China (20210715113)

More Information

Corresponding author: E-mail：caucyanjiusheng@163.com

摘要

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。
- 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
Abstract:
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.
- electric load simulator of aircraft steering gear /
- redundant torque /
- iterative learning control /
- metal-rubber buffer spring /
- forgetting factor

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图 1 ELSSG工作原理

Figure 1. Working principle of ELSSG

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图 2 ELSSG数学模型

Figure 2. Mathematical model of ELSSG

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图 3 不同弹性系数的系统频率特性曲线

Figure 3. Frequency characteristic curves of systems with different elastic coefficients

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图 4 复合控制器结构示意图

Figure 4. Structure diagram of compound controller

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图 5 10次迭代下的系统输出

Figure 5. System output at 10 iterations

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图 6 20次迭代下的系统输出

Figure 6. System output at 20 iterations

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图 7 TLAB/Simulink模型结构示意图

Figure 7. Schematic of MATLAB/Simulink model structure

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图 8 变频率正弦信号（扫频信号）图像

Figure 8. Sinusoidal signal (sweep frequency signal) image with variable frequency

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图 9 不同预设力矩下系统跟踪误差曲线

Figure 9. System tracking error curves under different preset torques

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图 10 预设信号频率为1 Hz时ELSSG输出力矩

Figure 10. ELSSG output torque when preset signal frequency is 1 Hz

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图 11 预设信号频率为1 Hz时ELSSG输出力矩误差

Figure 11. ELSSG output torque error when preset signal frequency is 1 Hz

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图 12 预设信号频率为1 Hz时力矩误差随迭代周期变化

Figure 12. Variation of torque error with iterative periods when preset signal frequency is 1 Hz

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图 13 预设信号频率为10 Hz时ELSSG输出力矩

Figure 13. ELSSG output torque when preset signal frequency is 10 Hz

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图 14 预设信号频率为10 Hz时ELSSG输出力矩误差

Figure 14. ELSSG output torque error when preset signal frequency is 10 Hz

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图 15 预设信号频率为10 Hz时力矩误差随迭代周期变化

Figure 15. Variation of torque error with iterative periods when preset signal frequency is 10 Hz

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图 16 添加舵机前馈控制后控制结构示意图

Figure 16. Control structure after adding feed forward control of aircraft steering gear

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图 17 添加不同前馈控制方法后不同迭代周期下的力矩跟踪误差

Figure 17. Torque tracking error of different iteration periods after adding different feedforward control methods

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表 1 不同迭代学习控制下系统的跟踪误差

Table 1. Tracking error of system under different iterative learning control

方法	迭代次数	最大跟踪误差/(N·m)	误差率/%
传统迭代学习控制	10	0.41	51.2
传统迭代学习控制	20	0.0517	6.46
改进迭代学习控制	10	0.1995	24.9
改进迭代学习控制	20	0.0234	2.925

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表 2 预设信号为1 Hz时力矩跟踪误差

Table 2. Torque tracking error when preset signal is 1 Hz

方法	最大跟踪误差/(N·m)	误差率/%
本文方法	0.06	0.12
迭代学习控制+PID控制	1.67	3.34
引导信号迭代学习控制+PID控制	0.92	1.84
迭代学习控制+RISE控制	2.59	5.18

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表 3 预设信号为10 Hz时力矩跟踪误差

Table 3. Torque tracking error when preset signal is 10 Hz

方法	最大跟踪误差/(N·m)	误差率/%
本文方法	2.60	5.20
迭代学习控制+PID控制	6.70	13.40
引导信号迭代学习控制+PID控制	5.44	10.88
迭代学习控制+RISE控制	8.57	17.14

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表 4 前馈控制实验力矩跟踪误差

Table 4. Torque tracking error of feedforward experiment

是否添加舵机前馈控制器	方法	最大跟踪误差/(N·m)	误差率/%
否	本文方法	2.60	5.20
	迭代学习控制+PID控制	6.70	13.40
	引导信号迭代学习控制+PID控制	5.44	10.88
	迭代学习控制+RISE控制	8.57	17.14
是	本文方法	2.12	4.24
	迭代学习控制+PID控制	6.48	12.96
	引导信号迭代学习控制+PID控制	5.26	10.56
	迭代学习控制+RISE控制	8.15	16.30

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