基于预设性能的飞机全电刹车系统滑模控制

谢明军; 段京奇; 马文冉; 贾玉红

doi:10.13700/j.bh.1001-5965.2022.0229

基于预设性能的飞机全电刹车系统滑模控制

doi: 10.13700/j.bh.1001-5965.2022.0229

1.
北京航空航天大学大型飞机高级人才培训班，北京 100191
2.
北京航空航天大学航空科学与工程学院，北京 100191

详细信息

通讯作者:
E-mail：jiayuhong@buaa.edu.cn

中图分类号: V221.3；TB553
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- 被引次数: 0
出版历程
- 收稿日期: 2022-04-06
- 录用日期: 2022-06-03
- 网络出版日期: 2022-06-10
- 整期出版日期: 2024-01-31

Sliding mode control for electric braking systems of aircraft based on prescribed performance

1.
Advanced Training Center of Large Aircraft，Beihang University，Beijing 100191，China
2.
School of Aeronautic Science and Engineering，Beihang University，Beijing 100191，China

More Information

Corresponding author: E-mail：jiayuhong@buaa.edu.cn

摘要

摘要:
针对飞机全电防滑刹车系统具有较强的非线性特征，以及机电作动器（EMA）中存在的干扰不利于系统稳定性，提出一种有限时间预设性能反演滑模控制方法。在合理简化的基础上，建立含滑移率子系统和EMA子系统的飞机全电防滑刹车系统的数学模型，并引入有限时间预设性能函数；利用预设性能反演控制方法设计滑移率控制器，获得参考刹车压力控制率，保证滑移率跟踪误差在有限时间内收敛到预设范围内；为跟踪参考刹车压力，利用非奇异终端滑模控制方法设计EMA控制器，针对EMA中存在的干扰，设计扩张状态观测器估计，并在控制器中进行补偿，提高控制器的鲁棒性和控制精度；通过干跑道和冰跑道2种情况下的数值仿真验证所提方法控制效果。
- 防滑刹车系统 /
- 有限时间 /
- 预设性能 /
- 扩张状态观测器 /
- 机电作动器 /
- 滑移率
Abstract:
The aircraft’s electric antiskid braking system has strong nonlinear characteristics, and the interference in the electromechanical actuator (EMA) is not conducive to system stability, a sliding mode backstepping control method based on finite-time prescribed performance control is proposed. An electric antiskid braking system model with slip rate subsystem and EMA subsystem is established based on reasonable simplification with the finite time convergence prescribed performance function introduced. Based on the backstepping design, a finite-time prescribed performance control algorithm is designed to generate reference braking pressure for the slip rate controller, which can limit the slip tracking error in the predefined bounds within a finite time by appropriately choosing design parameters. Using a control algorithm for the nonsingular terminal sliding mode, the EMA controller is designed. To improve EMA subsystem robustness and precision, an extended state observer is designed, which can estimate and compensate the disturbances. Simulation results verity the control effects of the proposed method for dry and ice runways.
- antiskid braking system /
- finite time /
- prescribed performance /
- extended state observer /
- electromechanical actuator /
- slip ratio

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图 1 飞机地面滑跑受力分析

Figure 1. Analysis of force on aircraft during ground running

下载: 全尺寸图片幻灯片

图 2 飞机机轮受力分析

Figure 2. Analysis of force on aircraft wheel

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图 3 $\mu \text{-} \lambda $曲线

Figure 3. $\mu \text{-} \lambda $ curves

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图 4 预设性能函数历时曲线

Figure 4. Duration curves of prescribed performance functions

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图 5 全电飞机防滑刹车系统控制结构

Figure 5. Structure of electric antiskid braking system of aircraft

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图 6 干扰观测仿真结果

Figure 6. Simulation results of disturbance observation

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图 7 不同跑道下滑移率误差仿真结果

Figure 7. Simulation results of slip ratio error in different runways

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图 8 不同跑道下飞机速度和机轮速度仿真结果

Figure 8. Simulation results of aircraft velocity and wheel velocity in different runways

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图 9 不同跑道下滑移率仿真结果

Figure 9. Simulation results of slip ratio in different runways

下载: 全尺寸图片幻灯片

表 1 Pacejka模型参数

Table 1. Pacejka model parameters

跑道状态 D C B

干跑道 0.8 1.534 4 14.0326

湿跑道 0.4 2.019 2 8.2098

冰跑道 0.2 2.087 5 7.2018

下载: 导出CSV

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