飞机舵机电动负载模拟器非线性干扰补偿控制

Compensation Control of Nonlinear Disturbance for Aircraft Rudder Electric Load Simulator

针对飞机舵机电动负载模拟器存在多余力矩、摩擦及外部扰动等非线性干扰问题,重建飞机舵机电动负载模拟器数学模型,提出一种基于非线性干扰观测器的新趋近律滑模补偿控制。一方面,建立基于LuGre模型的摩擦观测器,通过反演法设计滑模控制器以补偿摩擦干扰、抑制多余力矩,同时设计新趋近律以减轻滑模抖振、缩短收敛时间;另一方面,设计非线性干扰观测器对外部扰动进行实时观测,以达到控制补偿目的。仿真实验发现,在20 Hz条件下,系统力矩输出幅值差为0.2%,相位差为0.04%,表明所设计控制器能够抑制多余力矩、减轻摩擦及外部扰动影响,有效提高系统跟踪精度。

For the nonlinear disturbance problems of extraneous torque,friction and external disturbance in the electric load simulator of aircraft rudder,the mathematical model was reconstructed,and the sliding mode compensation control based on new reaching law and nonlinear disturbance observer was proposed.On the one hand,the friction observer based on LuGre model was established,and the sliding mode controller was designed by backstepping method to compensate friction disturbance and suppress extraneous torque.A new reaching law was designed to address the chattering problem and reduce convergence time.On the other hand,for the purpose of controlling compensation,the nonlinear disturbance observer was designed to observe external disturbance.The simulation found that the amplitude difference is 0.2%and the phase difference is 0.04%on the torque output under 20 Hz condition,which shows that the designed controller can suppress extraneous torque,reduce the effect of friction and external disturbance,so as to improve the accuracy of system tracking.