基于ADRC的电传动飞机牵引车控制系统设计

张军; 文川; 阳星; 张新荣; 贾永乐

doi:10.13700/j.bh.1001-5965.2021.0377

基于ADRC的电传动飞机牵引车控制系统设计

doi: 10.13700/j.bh.1001-5965.2021.0377

张军^{1, 2, ,},
文川^{1, 2},
阳星^{1, 2},
张新荣^{1, 2},
贾永乐³

1.
长安大学公路养护装备国家工程实验室，西安 710064
2.
长安大学道路施工技术与装备教育部重点实验室，西安 710064
3.
西安睿诺航空装备有限公司，西安 710060

基金项目: 陕西省交通运输科技计划(20-30k)；广西省交通运输行业重点科技项目(19-09)；河南省交通运输科技计划( 2018J1, 2019J3)

详细信息

通讯作者:
E-mail：zhangjun@chd.edu.cn

中图分类号: TH134
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- HTML全文浏览量: 64
- PDF下载量: 48
- 被引次数: 0
出版历程
- 收稿日期: 2021-07-05
- 录用日期: 2021-09-30
- 网络出版日期: 2021-12-13
- 整期出版日期: 2023-05-31

Design of an electric drive aircraft tug control system based on ADRC

ZHANG Jun^{1, 2
, ,},
WEN Chuan^{1, 2},
YANG Xing^{1, 2},
ZHANG Xinrong^{1, 2},
JIA Yongle³

1.
National Engineering Laboratory for Highway Maintenance Equipment，Chang’an University，Xi’an 710064，China
2.
Key Laboratory for Highway Construction Technology and Equipment of Ministry of Education， Chang’an University，Xi’an 710064，China
3.
Xi’an Ruinuo Aviation Equipment Co.，Ltd.，Xi’an 710060，China

Funds: Shaanxi Transportation Science and Technology Plan (20-30k); Key Science and Technology Projects in the Transportation Industry of Guangxi Province (19-09); Scientific Planning Project of Henan Provincial Department of Transportation (2018J1, 2019J3)

More Information

Corresponding author: E-mail：zhangjun@chd.edu.cn

摘要

摘要:
飞机牵引过程存在大惯性、高质心和时变摩擦力的特点，严重影响电传动牵引车的平稳性。为提高电传动牵引车运行过程的稳定性，以影响飞机牵引稳定的变量转速和转矩为研究对象，分析所设计策略的控制效果。运用ADAMS和MATLAB/Simulink仿真软件，构建了10 t飞机和牵引车的动力学模型和电机模型，设计基于转速和转矩的二阶非线性自抗扰控制器。分别对比分析了基于自抗扰控制（ADRC）和PID控制的电传动飞机牵引车变速过程中的轮速动态特性，并开展了变速过程的样机控制试验。结果表明：基于二阶非线性自抗扰控制器的飞机牵引系统的变速效果更优，变速过程中的轮速在响应速度、稳定性和抗扰能力等方面均更佳；试验结果与仿真结果吻合，证明了仿真模型和仿真结果的可行性与正确性，为高稳定的电传动飞机牵引车研究奠定基础。
- 电传动飞机牵引车 /
- 平稳性 /
- 自抗扰控制 /
- PID /
- 负载扰动
Abstract:
Large inertia, a high center of mass, and time-varying friction are aspects of the aircraft towing process that have a significant impact on the stability of the aircraft tug. In order to improve the stability of the electric aircraft tug, the variable speed and torque that affect the stability of aircraft traction are taken as the research objects, and the control effect of the designed strategy is analyzed. Using ADAMS and MATLAB/Simulink simulation software, the aircraft and tug dynamic model and motor model are constructed, and the second-order nonlinear auto disturbance rejection controller based on speed and torque is designed. The dynamic characteristics of the wheel speed of the aircraft tug based on active disturbance rejection control (ADRC) and PID control during the shifting process are compared and analyzed, and the prototype control test of the shifting process is carried out. The results show that the aircraft traction system based on the second-order nonlinear auto-disturbance rejection control algorithm has better gear shifting effects, and the wheel speed during gear shifting is better in terms of response speed, stability and anti-disturbance ability; the test results match the simulation results, and the coincidence proves the feasibility and correctness of the simulation model and simulation results, which lays the foundation for the research of highly stable aircraft tug.
- electric aircraft tug /
- stationarity /
- active disturbance rejection control /
- PID /
- load disturbance

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图 1 飞机牵引车运动学分析示意图

Figure 1. Schematic diagram of kinematic analysis of aircraft tug

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图 2 基于自抗扰控制器的飞机牵引车结构

Figure 2. Aircraft tug structure based on active disturbance rejection controller

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图 3 ADRC原理结构

Figure 3. Principle structure of ADRC

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图 4 ADAMS与MATLAB/Simulink联合仿真原理

Figure 4. Co-simulation model of ADAMS and MATLAB/Simulink

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图 5 电传动无杆飞机牵引车动力学模型

Figure 5. Dynamic model of electric rodless aircraft tug

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图 6 PID飞机牵引车联合仿真模型

Figure 6. Co-simulation model of PID aircraft tug

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图 7 ADRC飞机牵引车联合仿真模型

Figure 7. Co-simulation model of ADRC aircraft tug

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图 8 PID仿真电机轴转速特性曲线

Figure 8. Motor shaft speed characteristic curves of PID method

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图 9 ADRC仿真电机轴转速特性曲线

Figure 9. Motor shaft speed characteristic curves of ADRC method

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图 10 电传动飞机牵引车样机试验平台

Figure 10. Experiment platform of electric aircraft tug prototype

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图 11 电传动飞机牵引车样机试验平台

Figure 11. Electric aircraft tug prototype experiment platform

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图 12 电机轴转速特性曲线（PID试验）

Figure 12. Motor shaft speed characteristic curves (PID experiment)

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图 13 电机轴转速特性曲线（ADRC试验）

Figure 13. Motor shaft speed characteristic curves (ADRC experiment)

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表 1 电传动无杆飞机牵引车元件约束关系

Table 1. Elemental constraints of electric rodless aircraft tug

构件名称	万向舵轮	抱轮机构	后机轮	驱动轮
车体	旋转副			旋转副
机体		固定	旋转
路面	旋转副		旋转副	旋转副

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表 2 飞机和牵引车参数输入数据

Table 2. Input parameters of aircraft and tug

项目	参数	数值
飞机	质量/kg	10000
	长×宽×高/（mm×mm×mm）	12270×9480×4800
	质心到后轮轴距离/mm	430
	质心到前轮距离/mm	4150
	质心到地面距离/mm	2 000
	两后轮距离/mm	2390
牵引车	质量/kg	2 000
	长×宽×高/（mm×mm×mm）	1500×1500×480
	质心到后轮轴距离/mm	500
	质心到前轮距离/mm	920
	质心到地面距离/mm	250
	两后轮距离/mm	1470

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表 3 电传动无杆飞机牵引车仿真和试验条件

Table 3. Simulation and experimental conditions of electric rodless aircraft tug

项目	时间/s	运行状态	速度/（r·min⁻¹）
电机输入	0~1	匀加速	0~200
	1~3	匀速	200
	3~4	匀加速	200~650
	4~7	匀速	650

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表 4 电传动无杆飞机牵引车PID试验参数

Table 4. PID parameters of electric rodless aircraft tug

项目	K_p		K_i
项目	仿真值	样机参考值	仿真值	样机参考值
d轴电流环	5.83	5.25~6.41	1053.8	948.42~1159.18
q轴电流环	13.2	11.88~14.52	1053.8	948.42~1159.18
速度环	0.14	0.13~0.15	7	6.30~7.70

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表 5 电传动无杆飞机牵引车ADRC试验参数

Table 5. ADRC parameters of electric rodless aircraft tug

项目	${\beta _{01}}$		${\beta _{02}}$		${\beta _1}$		b
项目	仿真值	样机参考值	仿真值	样机参考值	仿真值	样机参考值	仿真值	样机参考值
d/q轴电流环	8500	7650~9350	500000	450000~550000	20	18~22	120	108~132
转速环	850	765~935	50000	45000~55000	5000	4500~5500	0	0

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表 6 电传动无杆飞机牵引车试验数据

Table 6. Experimental data analysis of electric rodless aircraft tug

控制	时间段/s	${n_{\max }}$	${n_{\min }}$	${n }$	${S }$/%
ADRC控制	1~3	199.8	191	200	4.4
ADRC控制	3~7	672	658	665	2.1
PID控制	1~3	213	186	200	13.5
PID控制	3~7	706	633	665	11.0

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