Composite iterative learning control for electric dynamic loading system with control time delay
-
摘要:
针对无人机前轮转向操纵系统中机电作动器的负载模拟需要，设计了一种用于复杂交变载荷模拟的电动加载系统。为了降低电动加载系统的控制时滞和多余力矩对系统精度的影响，提出了一种PID控制与迭代学习控制相结合的加载力矩复合控制策略。介绍了电动加载系统的主要组件并给出其数学模型，分析了电动加载系统多余力矩产生的原因，提出了系统控制延时时间的测量方法，设计了基于迭代学习控制与传统PID控制的复合控制器，分析了迭代学习控制器的收敛条件，分别通过多余力矩抑制和动态力矩加载实验验证了控制策略的有效性。与传统的反馈控制加前馈补偿方法相比，所提方法能够消除控制时滞和多余力矩对加载系统的影响，保证电动加载系统的力矩加载精度。
Abstract:An electric dynamic loading system is designed for the load simulation of electro-mechanical actuator used in UAV front wheel steering control system, which can simulate the complex alternating load. In order to overcome the problem of control time delay and extraneous torque in electric dynamic loading system, a composite control strategy based on traditional PID control and iterative learning control is proposed. On the basis of introducing the composition of the electric dynamic loading system and establishing the mathematical model of the frequency domain of the loading system, this paper analyzes the generation mechanism of the excess torque in the system, puts forward the measurement method of the control delay time of the system, and designs the composite controller which combines the iterative learning control with the traditional PID. The convergence conditions of the iterative learning controller are given by theoretical analysis, and the effectiveness of the control strategy is verified by extraneous torque suppression and dynamic torque loading experiments respectively. Compared with the traditional feedback and feedforward compensation control strategy, this method can eliminate the influence of control time delay and extraneous torque on the loading system, and ensure the torque loading accuracy of the electric dynamic loading system.
-
表 1 PMSM加载电机主要指标
Table 1. Main indicators of PMSM loading motor
参数 额定功率/kW 额定转速/(r·min-1) 额定转矩/(N·m) 额定电压/V 数值 3 3 000 9.55 380 
下载: 导出CSV
表 2 EDLS系统相关参数
Table 2. EDLS system parameters
参数 数值 Km/(N·m·V-1) 0.955 Jm/(kg·m2) 0.000 697 bm/(N·m·(rad·s-1)-1) 0.000 18 N 35 Jl/(kg·m2) 0.266 bl/(N·m·(rad·s-1)-1) 0.08 KG/(N·m·rad-1) 8 500
下载: 导出CSV
-
[1] BENNETT J W, MECROW B C, ATKINSON D J, et al.Fault-tolerant electric drive for an aircraft nose wheel steering actuator[J].IET Electrical Systems in Transportation, 2010, 1(3):117-125. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=337f6bd1f84ebf76c32d7a79644d0e93 [2] 聂青, 聂宏, 张明.大型民机双作动筒式前轮转弯操纵系统设计与仿真分析[J].南京航空航天大学学报, 2012, 44(4):503-510. doi: 10.3969/j.issn.1005-2615.2012.04.012NIE Q, NIE H, ZHANG M.Design and dynamic analysis of dual actuator nose wheel steering system on large civil aircraft[J].Journal of Nanjing University of Aeronautics & Astronautics, 2012, 44(4):503-510(in Chinese). doi: 10.3969/j.issn.1005-2615.2012.04.012 [3] YALLA S K, KAREEM A.Dynamic load simulator:Actuation strategies and applications[J].Journal of Engineering Mechanics, 2007, 133(8):855-863. doi: 10.1061/(ASCE)0733-9399(2007)133:8(855) [4] 张朋, 付永领, 郭彦青, 等.伺服机构负载模拟系统设计与动态特性分析[J].北京航空航天大学学报, 2014, 40(9):1225-1230. doi: 10.13700/j.bh.1001-5965.2013.0571ZHANG P, FU Y L, GUO Y Q, et al.Design and analysis on dynamic characteristic of servo mechanism's load simulation system[J].Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(9):1225-1230(in Chinese). doi: 10.13700/j.bh.1001-5965.2013.0571 [5] 关永亮, 侯玉秀, 贾宏光, 等.无人机地面运动的动力学建模及仿真[J].兵工学报, 2014, 35(7):1021-1026. doi: 10.3969/j.issn.1000-1093.2014.07.013GUAN Y L, HOU Y X, JIA H G, et al.Dynamic modeling and simulation of UAV ground maneuvers[J].Acta Armamentarii, 2014, 35(7):1021-1026(in Chinese). doi: 10.3969/j.issn.1000-1093.2014.07.013 [6] 李成功, 靳红涛, 焦宗夏.电动负载模拟器多余力矩产生机理及抑制[J].北京航空航天大学学报, 2006, 32(2):204-208. doi: 10.3969/j.issn.1001-5965.2006.02.018LI C G, JIN H T, JIAO Z X.Mechanism and suppression of extraneous torque of motor driver load simulator[J].Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(2):204-208(in Chinese). doi: 10.3969/j.issn.1001-5965.2006.02.018 [7] 焦宗夏, 华清, 王晓东, 等.负载模拟器的评价指标体系[J].机械工程学报, 2002, 38(11):26-30. doi: 10.3321/j.issn:0577-6686.2002.11.005JIAO Z X, HUA Q, WANG X D, et al.Estimation for performance of load simulator[J].Chinese Journal of Mechanical Engineering, 2002, 38(11):26-30(in Chinese). doi: 10.3321/j.issn:0577-6686.2002.11.005 [8] 尚耀星, 吴帅, 焦宗夏, 等.基于极限性能要求的电液负载模拟器多刚度与非线性复合数学模型[J].航空学报, 2009, 30(7):1331-1340. doi: 10.3321/j.issn:1000-6893.2009.07.025SHANG Y X, WU S, JIAO Z X, et al.Complex mathematical model of electro-hydraulic load simulator including multi-stiffness and nonlinear factors in ultimate performance research[J].Acta Aeronautica et Astronautica Sinica, 2009, 30(7):1331-1340(in Chinese). doi: 10.3321/j.issn:1000-6893.2009.07.025 [9] 高飞, 林辉, 杜晓岗.电动加载系统转动惯量测量及多余力矩消除方法研究[J].计算机测量与控制, 2005, 13(7):635-637. http://d.old.wanfangdata.com.cn/Periodical/jsjzdclykz200507006GAO F, LIN H, DU X G.Research of a dynamic measuring method of moment of inertia and an elimination method of plus torque in electric loading system[J].Computer Measurement & Control, 2005, 13(7):635-637(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/jsjzdclykz200507006 [10] 王乐三, 王明彦, 郭犇.基于比例谐振控制的电动负载模拟器高频率加载控制策略及其稳定性分析[J].中国电机工程学报, 2018, 38(14):4262-4270. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgdjgcxb201814026WANG L S, WANG M Y, GUO B.A high frequency loading control strategy based on proportional resonant control and stability analysis for electric load simulators[J].Proceedings of the CSEE, 2018, 38(14):4262-4270(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zgdjgcxb201814026 [11] 任志婷, 焦宗夏.小转矩电动式负载模拟器的设计[J].北京航空航天大学学报, 2003, 29(1):91-94. doi: 10.3969/j.issn.1001-5965.2003.01.024REN Z T, JIAO Z X.Design of motor-drive load simulator with small torque outputs[J].Journal of Beijing University of Aeronautics and Astronautics, 2003, 29(1):91-94(in Chinese). doi: 10.3969/j.issn.1001-5965.2003.01.024 [12] WANG X J, WANG S P, YAO B.Adaptive robust torque control of electric load simulator with strong position coupling disturbance[J].International Journal of Control Automation & Systems, 2013, 11(2):325-332. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=1ceb992e5404a7b518868d83799075e8 [13] BO Y, RAN B, HAN H.Robust hybrid control based on PD and novel CMAC with improved architecture and learning scheme for electric load simulator[J].IEEE Transactions on Industrial Electronics, 2014, 61(10):5271-5279. doi: 10.1109/TIE.2014.2301717 [14] 焦宗夏, 华清.电液负载模拟器的RBF神经网络控制[J].机械工程学报, 2003, 39(1):10-14. doi: 10.3321/j.issn:0577-6686.2003.01.003JIAO Z X, HUA Q.RBF neural network control on electro-hydraulic load simulator[J].Chinese Journal of Mechanical Engineering, 2003, 39(1):10-14(in Chinese). doi: 10.3321/j.issn:0577-6686.2003.01.003 [15] 牛国臣, 王巍, 宗光华.基于迭代学习的电动负载模拟器复合控制[J].控制理论与应用, 2014, 31(12):1740-1747. doi: 10.7641/CTA.2014.40800NIU G C, WANG W, ZONG G H.Composite control for electric load simulator based on iterative learning[J].Control Theory & Applications, 2014, 31(12):1740-1747(in Chinese). doi: 10.7641/CTA.2014.40800 [16] 吕帅帅, 林辉.电动加载系统分数阶迭代学习复合控制[J].北京航空航天大学学报, 2016, 42(9):1944-1951. doi: 10.13700/j.bh.1001-5965.2015.0543LYU S S, LIN H.Composite control for electric dynamic loading system based on fractional order iterative learning[J].Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(9):1944-1951(in Chinese). doi: 10.13700/j.bh.1001-5965.2015.0543 [17] BRISTOW D A, THARAYIL M, ALLEYNE A G.A survey of iterative learning control[J].IEEE Control Systems, 2006, 26(3):96-114. doi: 10.1109/MCS.2006.1636313 [18] MENG D Y, JIA Y H, DU J Z, et al.Learning control for time-delay systems with iteration-varying uncertainty:A Smith predictor-based approach[J].IET Control Theory & Applications, 2010, 4(12):2707-2718. http://cn.bing.com/academic/profile?id=cf5eb9568296a3d7d6c3b5d2e9b63119&encoded=0&v=paper_preview&mkt=zh-cn [19] WANG Z H, SONG Z Y, ZENG Q S.A new iterative learning control with time delays for LTI systems in frequency domain[J].IEEE Access, 2019, 7:13355-13363. doi: 10.1109/ACCESS.2019.2892720 [20] 孙明轩, 黄宝健.迭代学习控制[M].北京:国防工业出版社, 1998:92-105.SUN M X, HUANG B J.Iterative learning control[M].Beijing:National Defense Industry Press, 1998:92-105(in Chinese). [21] 周颖, 何磊.具有控制时滞和测量数据丢失的直线电机迭代学习控制[J].控制与决策, 2017, 32(8):1434-1438. http://d.old.wanfangdata.com.cn/Periodical/kzyjc201708012ZHOU Y, HE L.Iterative learning control for linear motor system with control delay and measurement dropout[J].Control and Decision, 2017, 32(8):1434-1438(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/kzyjc201708012 [22] WANG L, WANG M, GUO B, et al.Analysis and design of a speed controller for electric load simulators[J].IEEE Transactions on Industrial Electronics, 2016, 63(12):7413-7422. doi: 10.1109/TIE.2016.2592861 -
下载:
点击查看大图
计量
- 文章访问数: 660
- HTML全文浏览量: 65
- PDF下载量: 160
- 被引次数: 0
