异构作动系统的平稳切换控制方法

A Method of Smooth Switching Control for Dissimilar Redundancy Actuation System

为充分发挥异构作动系统在能量特性和控制特性上的双重优势,建立了液压作动器和电动静液作动器的仿真模型,并在此基础上,通过Matlab和AMESim联合仿真的方式,分析了能量特性;以能量特性为依据,提出了“主动切换”的管理方法。仿真结果表明,该方法可以实现能量特性的优化,但引入了位置跟踪曲线的“抖动”问题。针对“抖动”问题,提出了“设置最小切换时间”和“输出力柔性过渡”的系统性解决方案。仿真结果表明,该方案在保证跟踪特性的同时,实现了能量特性的显著提升。

Typical dissimilar redundancy actuation system consists of a hydraulic actuator and an electro-hydrostatic actuator. In order to improve the energy characteristic and control characteristic of dissimilar redundancy actuation system,the following works are carried out. At first,energy characteristic is achieved by making simulation models in Matlab and AMESim. And then,active switch strategy is proposed to combine the advantage of hydraulic actuator and electro-hydrostatic actuator,and simulation result shows that the method can improve the energy characteristic,but brings the position " jump" problem at the same time. At last,in order to solve the problem,setting the minimum switch time and the soft switching transition are proposed. And simulation result shows that the proposed solution not only guarantees the servo characteristic,but also improves the energy characteristic significantly.