非相似余度作动系统动态力均衡控制策略

Dynamic force equalization for dissimilar redundant actuator system

随着多电/全电化飞机关键技术的发展,由功率电传作动器——电动静液作动器(EHA)和机电作动器(EMA)构成的非相似余度作动系统,成为飞机多电/全电化发展的新趋势.介绍了非相似余度作动系统的结构组成和工作原理,建立了非相似余度作动系统力纷争的数学模型.在此基础上,分析了非相似余度作动系统动态力纷争的产生机理,基于上述原理提出了轨迹发生器+前馈补偿器、力纷争反馈PID补偿器和EHA力控制/EMA位置控制等3种减小动态力纷争的动态力均衡控制策略,并对其进行了理论分析与设计.最后,对所提出的3种动态力均衡控制策略进行了仿真对比,并从跟踪动态性能和抗负载扰动动态性能两个方面对仿真结果进行了深入分析.分析结果为非相似余度作动系统的设计和力均衡控制提供了理论依据.

With the development of key technologies about more / all electric aircraft（ MEA / AEA）,the dissimilar redundant actuator system（ DRAS） which consists of power-by-wire actuators,EMA and EHA,indicates the trend of more-electric-aircraft. First of all,the construction and the working principle of the dissimilar redundant actuator system were described. The force fighting model within dissimilar redundant actuator system was built up. The mechanism of dynamic force fighting was introduced. Three kinds of dynamic force equalization for eliminating dynamic force fighting,such as trajectory pre-compensator strategy,force fighting feedback with PID compensator strategy,EHA force / EMA position strategy were put forward and theoretically discussed. Finally,a comparative simulation was exhibited for the three control strategies,and a detailed analysis of the simulation result was provided within the two aspects of the pursuit dynamics and the rejection dynamics of the dissimilar redundant actuator system. The results provide theoretical basis for the design and force equalization of the dissimilar redundant actuator system.