基于反步自适应的多余度电静压伺服系统容错控制研究

Study on Fault Tolerance Control of Redundant Electro-hydrostatic Actuator based on Backstepping Adaptive HUANGFU Yushi,CHEN Keqin,ZHANG Peng,ZHANG Xiaosha,HAO Weiyi(Beijing Institute of Precision Mechatronics and Controls,Beijing,100076)

为满足运载火箭高可靠性应用需求,针对多余度电静压伺服系统(Electro-Hydrostatic Actuator,EHA)提出了基于反步自适应的容错控制策略,建立了数学模型及状态空间方程,采用动态面方法降低了算法复杂性,实现了在冗余动力通道局部失效工况下的主动容错控制,进行了仿真分析和试验验证。结果表明,相比于非线性PID控制,基于反步自适应容错控制策略可显著降低系统在一路动力通道失效工况下的跟踪误差,提高系统控制性能,为未来工程应用奠定基础。

In order to meet the application requirements of high reliability of launch vehicle,a fault tolerant control strategy based on backstepping adaptive is proposed for redundant electro-hydrostatic actuator.The mathematical model and state space equation are established.The dynamic surface method is used to reduce the complexity of the control algorithm,and the active fault tolerant control under redundant power channel local failure condition is realized.The simulation analysis and experimental verification are completed.The results show that compared with the nonlinear PID,the backstepping adaptive fault tolerant control can significantly reduce the tracking error of the system under the failure condition of one power channel,improve system control performance,and lay a foundation for future engineering applications.