Research and Design of Coordinated Control Strategy for Smart Electromechanical Actuator System

灵巧机电作动器系统的协调控制策略研究及设计

In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.

为提高灵巧机电作动器(Electromechanical actuator,EMA)系统的频率响应和抗干扰特性,并针对多作动器同步工作时的力纷争问题,提出并设计了基于双闭环负载前馈控制的多输入多输出(Multi input multi output,MIMO)位置差交叉耦合的协调控制策略。该策略利用回差矩阵奇异值法设计满足系统稳定裕度要求的参数范围,并采用灵敏度函数和H_(∞)范数理论在所得的参数稳定域内设计并确定最优解,使多作动器系统兼具优异的同步性、稳定性和抗干扰性。同时,建立了集成一体化灵巧机电作动器系统的数学模型,根据点‑点控制要求,确定并设计了双环控制和负载前馈补偿的控制器,以提高单作动器的频响和抗干扰能力。最后,搭建了270 V高压灵巧机电作动器系统实验平台,进行了频率响应、负载前馈补偿、协调控制实验,验证了位置差交叉耦合控制策略的正确性和参数设计的合理性,使系统达到带宽6 Hz、最大输出力20000 N、同步误差≤0.1 mm的伺服控制指标,有效解决了力纷争问题。