| Citation: | DAI Mingguang, QI Rong. Composite iterative learning control for electric dynamic loading system with control time delay[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(2): 340-349. doi: 10.13700/j.bh.1001-5965.2019.0249(in Chinese)
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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.
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