Prescribed adaptive finite-time control of oil-immersed electro-hydrostatic actuators under wide temperature range
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摘要:
针对浸油式电静液作动器(OI-EHA)在宽温域下跟踪控制精度低的问题，提出一种考虑油温的预设自适应有限时间控制策略。通过构建动态热耦合模型，实现对不可测油温的实时估计，将温度动态特性嵌入控制器架构，以降低系统复杂度；有限时间观测器(FTO)的设计有效抑制了温度预测误差、参数摄动及外部扰动形成的复合干扰，并通过干扰估计值反馈使系统误差在有限时间内收敛，引入预设性能函数(PPF)对跟踪误差及其动态特性进行约束，确保误差始终处于预设边界内；利用反步法设计整合FTO与PPF，形成兼具温度敏感参数和不确定干扰补偿机制的复合控制器，确保闭环系统的稳定性。实验结果表明：在不同工况下，所设计控制器均表现出优异的控制性能。
Abstract:This work proposes a prescribed adaptive finite-time control approach that takes the impacts of oil temperature into account in order to address the problem of low tracking control accuracy in oil-immersed electro-hydrostatic actuators (OI-EHAs) under large temperature ranges. Firstly, a dynamic thermal coupling model is established to estimate the unmeasurable oil temperature in real-time, integrating temperature dynamics into the controller architecture to reduce system complexity. Secondly, a finite-time observer (FTO) is designed to effectively suppress composite disturbances arising from temperature prediction bias, parameter perturbations, and external disturbances. By feeding back the estimated disturbance values, the system error converges within a finite time. The tracking error and its dynamic properties are constrained by the introduction of a prescribed performance function (PPF), which guarantees that the error stays within specified bounds. Finally, the backstepping method is employed to integrate the FTO and the PPF, forming a composite controller with temperature-sensitive parameters and mechanisms for compensating uncertainty disturbances. This method ensures the stability of the closed-loop system. Experimental results demonstrate that the proposed controller exhibits excellent performance under various operating conditions.
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图 6 不同温度下TB=45 s时x1d = 5sin(4πt)指令的跟踪位移及误差
Figure 6. Piston tracking and errors at x1d = 5sin(4πt) command and TB=45 s under different temperatures
图 7 不同温度下TB=34 s时x1d=4sin(10πt)指令的跟踪位移及误差
Figure 7. Piston tracking and errors at x1d=4sin(10πt) command and TB=34 s under different temperatures
图 8 不同温度下TB=20 s时x1d=4sin(20πt)指令的跟踪位移及误差
Figure 8. Piston tracking and errors at x1d=4sin(20πt) command and TB=20 s under different temperatures
表 1 不同工况下的跟踪误差
Table 1. Tracking errors under various operating conditions
指令 温度/℃ ME/mm AE/mm RMSE/mm x1d=5sin(4πt) 70 1.31 0.82 0.84 110 1.39 0.94 0.97 150 1.87 1.12 1.22 190 2.03 1.27 1.31 x1d=4sin(10πt) 70 1.71 1.08 1.20 110 1.79 1.14 1.26 150 2.04 1.31 1.46 190 2.25 1.43 1.59 x1d=4sin(20πt) 70 2.52 1.47 1.63 110 2.63 1.57 1.78 150 2.94 1.71 1.93 190 3.21 1.95 2.16 
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表 2 工况1下不同控制器性能指标对比
Table 2. Performance index comparison of different controllers at condition 1
控制器 ME/mm AE/mm RMSE/mm PID 1.79 1.14 1.26 ARC 1.78 0.97 1.02 PPC 1.23 0.57 0.62 AFTOPPC 1.18 0.52 0.57
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表 3 工况2下不同控制器性能指标对比
Table 3. Performance index comparison of different controllers at condition 2
控制器 ME/mm AE/mm RMSE/mm PID 2.94 1.71 1.93 ARC 2.91 1.53 1.62 PPC 2.01 1.41 1.48 AFTOPPC 1.97 1.36 1.43
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表 4 工况3下不同控制器性能指标对比
Table 4. Performance index comparison of different controllers at condition 3
控制器 ME/mm AE/mm RMSE/mm PID 8.81 5.36 6.01 ARC 6.92 3.14 3.53 PPC 3.78 2.47 2.69 AFTOPPC 3.42 2.25 2.41
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