基于定量反馈理论的EHA控制器设计

EHA controller design based quantitative feedback theory

定量反馈理论(QFT,QuantitativeFeedbackTheory)是一种鲁棒控制器设计方法,具有很好的工程实用性,在液压伺服控制领域得到了广泛应用.建立电动静液作动器(EHA,ElectricalHydrostaticActuator)模型并简化后,基于定量反馈理论进行了内外环控制系统的设计.内环控制电动机转速,主要保证其快速性;外环控制舵面的转角,要兼顾跟踪性能、鲁棒稳定性和抗干扰能力.设计过程中考虑到了电动机、液压系统的参数不确定性和各种飞行状态下的负载变化情况,并根据内外环性能指标生成边界条件.仿真结果表明控制器不仅对参数变化具有鲁棒性,还能很好地抑制输出干扰带来的影响,使一体化电动静液作动系统充分发挥其转矩高、功率密度大、易于维修和模块化的优点,对整个飞控系统的性能提高有很大帮助.

QFT （quantitative feedback theory） is a robust controller design method. It has good practicability and has been widely used in hydraulic servo control system. After creating the EHA（electrical hydrostatic actuator） ＇ s model, the inner and outer loop controllers were designed based on QFT. Inner loop controlled motor＇s rotate speed and ensured that it had good response time. Outer loop controlled the position of flight surface and ensured that it had good robust stability, tracking capability and disturb restraining ability, Design process considered the parameters＇ uncertainty of electronic and hydraulic system, and aero load changing under all flight conditions. Performance bounds defining took all the inner and outer loop requirements into account. Simulation results show that this control system has good robust stability and can restrain the output disturbance efficiently, which can fully utilize some strongpoint of integrated EHA like high torque and power density, easiness to maintain and modularize. It can greatly improve the performance of flight control system.