电气液压复合调节容积式舵机的精确线性化控制

EXACT LINEARIZATION CONTROL FOR THE DISPLACEMENT TYPE OF ACTUATOR WITH ELECTRICAL AND HYDRAULIC COMPOUND ADJUSTMENT

针对先进歼击机功率电传作动系统舵面控制的需求,提出了一种具有电气一液压复合调节容积式舵机的结构方案,并讨论了这种舵机的操纵状态和工作特性。在此基础上,推导了描述舵机动态特性的非线性状态方程。然后,采用非线性系统的几何控制理论,证明了系统满足精确线性化的条件,并给出了基于时间—误差性能指标(ITAE)最小的最优控制律,成功地解决了复合舵机控制系统存在的交联问题和相乘非线性问题。所提出的控制方法奠定了电气—液压复合舵机非线性控制理论的基础。

Aiming at the requirement of the pilot surface control system with power by wire for the advanced fighter, a kind of the structure scheme of the displacement type of actuator with the reasonable electrical and hydraulic adjusting configuration is proposed, and its operation states and the main characteristics are discussed. On the basis of the mentioned work, the nonlinear state equation to describe the dynamic characteristics of this kind of the actuator is derived. Then, by means of the geometric control theory of the nonlinear control system, it is proved that this system satisfies the exact linearization condition, a kind of the optimal control law with the least time-error cost func-tion(ITAE), and the problems of cross coupling and multiplica- tion non-linearity existed in the actuator control system are successively solved. The control method proposed here founds the nonlinear control theory for the actuator with electrical and hydraulic compound control.