As the power transmission system of an aircraft,a hydraulic pipeline system is equivalent to the " blood vessel" of the aircraft. With the development of aircraft hydraulic system to high pressure,high speed...As the power transmission system of an aircraft,a hydraulic pipeline system is equivalent to the " blood vessel" of the aircraft. With the development of aircraft hydraulic system to high pressure,high speed and high power ratio,the fluid-structure interaction vibration mechanism of hydraulic pipeline is more complex and the influence of friction coupling on vibration cannot be ignored. The fluid-structure interaction of hydraulic pipeline will lead to system vibration,lower reliability of system operation and even pipeline rupture. Taking a hydraulic pipeline of C919 aircraft wingtip as the research object,a 14-equation model of fluid-structure interaction vibration considering friction coupling effect is established in this paper. The effects of friction and fluid parameters on the pipeline fluid-structure interaction vibration characteristics are studied and verified by experiments. The research results will provide theoretical guidance for the analysis of the pipeline fluid-structure interaction vibration and have important theoretical significance and great engineering value for promoting the localization process of large aircraft.展开更多
Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear paramete...Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear parameters, viz. the flow gain coefficient of servo valve and total factors of flow-pressure coefficient. Taking trace error of torque control system to zero as control object, this article designs the adaptive nonlinear optimal compensation control strategy, which regards torque control output of closed-loop controller converging to zero as the control target, to optimize torque tracking performance. Electro-hydraulic load simulator is a typical case of the torque system which is strongly coupled with a hydraulic positioning system. This article firstly builds and analyzes the mathematical models of hydraulic torque and positioning system, then designs an adaptive nonlinear optimal compensation controller, proves the validity of parameters estimation, and shows the comparison data among three control structures with various typical operating conditions, including proportion-integral-derivative (PID) controller only, the velocity synchronizing controller plus P1D controller and the proposed adaptive nonlinear optimal compensation controller plus PID controller. Experimental results show that systems' nonlinear parameters are estimated exactly using the proposed method, and the trace accuracy of the torque system is greatly enhanced by adaptive nonlinear optimal compensation control, and the torque servo system capability against sudden disturbance can be greatly improved.展开更多
Based on the structure of a certain type of aviation axial-piston pump's valve plate which adopts a pre-pressurization fluid path (consisting a damping hole, a buffer chamber, and an orifice) to reduce flow ripple,...Based on the structure of a certain type of aviation axial-piston pump's valve plate which adopts a pre-pressurization fluid path (consisting a damping hole, a buffer chamber, and an orifice) to reduce flow ripple, a single-piston model of the aviation axial-piston pump is presented. This sin- gle-piston model comprehensively considers fluid compressibility, orifice restriction effect, fluid resistance in the capillary tube, and the leakage flow. Besides, the instantaneous discharge areas used in the single-piston model have been calculated in detail. Based on the single-piston model, a multi-piston pump model has been established according to the simple hydraulic circuit. The sin- gle- and multi-piston pump models have been realized by the S-function in Matlab/Simulink. The developed multi-piston pump model has been validated by being compared with the numerical result by computational fluid dynamic (CFD). The effects of the pre-pressurization fluid path on the flow ripple and the instantaneous pressure in the piston chamber have been studied and opti- mized design recommendations for the aviation axial-piston pump have been given out.展开更多
This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear proper...This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conven- tional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlin- ear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptoti- cally stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parame- ters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncer- tainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved.展开更多
Three degrees of freedom (3-DOF) Helmholtz resonator which consists of three cylindrical necks and cavities connected in series (neck-cavity-neck-cavity-neck-cavity) is suitable to reduce flow pulsation in hydraul...Three degrees of freedom (3-DOF) Helmholtz resonator which consists of three cylindrical necks and cavities connected in series (neck-cavity-neck-cavity-neck-cavity) is suitable to reduce flow pulsation in hydraulic system. A novel lumped parameter model (LPM) of 3-DOF Helmholtz resonator in hydraulic system is developed which considers the viscous friction loss of hy- draulic fluid in the necks. Applying the Newton's second law of motion to the equivalent mechanical model of the resonator, closed-form expression of transmission loss and resonance frequency is presented. Based on the LPM, an optimal design method which employs rotate vector optimization method (RVOM) is proposed. The purpose of the optimal design is to search the reso- nator's unknown parameters so that its resonance frequencies can coincide with the pump-induced flow pulsation harmonics respectively. The optimal design method is realized to design 3-DOF Helmholtz resonator for a certain type of aviation piston pump hydraulic system. The optimization result shows the feasibility of this method, and the simulation under optimum parame- ters reveals that the LPM can get the same precision as transfer matrix method (TMM).展开更多
Low-velocity tracking capability is a key performance of flight motion simulator (FMS), which is mainly affected by the nonlinear friction force. Though many compensation schemes with ad hoc friction models have bee...Low-velocity tracking capability is a key performance of flight motion simulator (FMS), which is mainly affected by the nonlinear friction force. Though many compensation schemes with ad hoc friction models have been proposed, this paper deals with low-velocity control without friction model, since it is easy to be implemented in practice. Firstly, a nonlinear model of the FMS middle frame, which is driven by a hydraulic rotary actuator, is built. Noting that in the low velocity region, the unmodeled friction force is mainly characterized by a changing-slowly part, thus a simple adaptive law can be employed to learn this changing-slowly part and compensate it. To guarantee the boundedness of adaptation process, a discontinuous projection is utilized and then a robust scheme is proposed. The controller achieves a prescribed output tracking transient performance and final tracking accuracy in general while obtaining asymptotic output tracking in the absence of modeling errors. In addition, a saturated projection adaptive scheme is proposed to improve the globally learning capability when the velocity becomes large, which might make the previous proposed projection-based adaptive law be unstable. Theoretical and extensive experimental results are obtained to verify the high-performance nature of the proposed adaptive robust control strategy.展开更多
Actuation system is a vital system in an aircraft, providing the force necessary to move flight control surfaces. The system has a significant influence on the overall aircraft performance and its safety. In order to ...Actuation system is a vital system in an aircraft, providing the force necessary to move flight control surfaces. The system has a significant influence on the overall aircraft performance and its safety. In order to further increase already high reliability and safety, Airbus has imple- mented a dissimilar redundancy actuation system (DRAS) in its aircraft. The DRAS consists of a hydraulic actuation system (HAS) and an electro-hydrostatic actuation system (EHAS), in which the HAS utilizes a hydraulic source (HS) to move the control surface and the EHAS utilizes an elec- trical supply (ES) to provide the motion force. This paper focuses on the performance degradation processes and fault monitoring strategies of the DRAS, establishes its reliability model based on the generalized stochastic Petri nets (GSPN), and carries out a reliability assessment considering the fault monitoring coverage rate and the false alarm rate. The results indicate that the proposed reli- ability model of the DRAS, considering the fault and redundancy degradation process and identify monitoring, can express its fault logical relation potential safety hazards.展开更多
This paper studies a nonlinear robust control algorithm of the electro-hydraulic load simulator (EHLS). The tracking performance of the EHLS is mainly limited by the actuator's motion disturbance, flow nonlinearity...This paper studies a nonlinear robust control algorithm of the electro-hydraulic load simulator (EHLS). The tracking performance of the EHLS is mainly limited by the actuator's motion disturbance, flow nonlinearity, and friction, etc. The developed controller is developed based on the nonlinear motion loading model. The problems of the actuator's disturbance and flow nonlinearity are considered. To address the friction problem, the friction model of the loading motor is identified experimentally. The friction disturbance is compensated using the obtained friction model. Therefore, this paper considers the main three factors comprehensively. The developed algorithm is easy to apply since the controller can be obtained just with one step back-stepping design. The stability of the developed algorithm is proven via Lyapunov analysis. Both co-simulation and experiments are performed to verify the effectiveness of this method.展开更多
The necessity of improving the air traffic and reducing the aviation emissions drives to investigate automatic steering for aircraft to effectively roll on the ground. This paper addresses the path following control p...The necessity of improving the air traffic and reducing the aviation emissions drives to investigate automatic steering for aircraft to effectively roll on the ground. This paper addresses the path following control problem of aircraft-on-ground and focuses on the task that the aircraft is required to follow the desired path on the runway by nose wheel automatic steering. The proposed approach is based on dynamical adaptive backstepping so that the system model does not have to be transformed into a canonical triangular form which is necessary in conventional backstepping design. This adaptive controller performs well despite the lack of information on the aerodynamic load and the tire cornering stiffness parameters. Simulation results clearly demonstrate the advantages and effectiveness of the proposed approach.展开更多
This paper investigates motion coupling disturbance(the so called surplus torque)in the hardware-in-the-loop(HIL)experiments.The''velocity synchronization scheme''was proposed by Jiao for an electro-hydraulic ...This paper investigates motion coupling disturbance(the so called surplus torque)in the hardware-in-the-loop(HIL)experiments.The''velocity synchronization scheme''was proposed by Jiao for an electro-hydraulic load simulator(EHLS)in 2004.In some situations,however,the scheme is limited in the implementation for certain reasons,as is the case when the actuator's valve signal is not available or it is seriously polluted by noise.To solve these problems,a''dual-loop scheme''is developed for EHLS.The dual-loop scheme is a combination of a torque loop and a position synchronization loop.The role of the position synchronization loop is to decouple the motion disturbance caused by the actuator system.To verify the feasibility and effectiveness of the proposed scheme,extensive simulations are performed using AMESim.Then,the performance of the developed method is validated by experiments.展开更多
A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion simulators is proposed. Compared with other three-order models of hydraulic rotary actuators, the proposed controller based on first-...A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion simulators is proposed. Compared with other three-order models of hydraulic rotary actuators, the proposed controller based on first-order nonlinear model is more easily applied in practice, whose control law is relatively simple. It not only does not need high-order derivative of desired command,but also does not require the feedback signals of velocity, acceleration and jerk of hydraulic rotary actuators. Another advantage is that it does not rely on any information of friction, inertia force and external disturbing force/torque, which are always difficult to resolve in flight motion simulators. Due to the special composite vane seals of rectangular cross-section and goalpost shape used in hydraulic rotary actuators, the leakage model is more complicated than that of traditional linear hydraulic cylinders. Adaptive multi-input single-output(MISO) fuzzy compensators are introduced to estimate nonlinear uncertain functions about leakage and bulk modulus. Meanwhile, the decomposition of the uncertainties is used to reduce the total number of fuzzy rules. Different from other adaptive fuzzy compensators, a discontinuous projection mapping is employed to guarantee the estimation process to be bounded. Furthermore, with a sufficient number of fuzzy rules, the controller theoretically can guarantee asymptotic tracking performance in the presence of the above uncertainties, which is very important for high-accuracy tracking control of flight motion simulators.Comparative experimental results demonstrate the effectiveness of the proposed algorithm, which can guarantee transient performance and better final accurate tracking in the presence of uncertain nonlinearities and parametric uncertainties.展开更多
This paper intends to provide theoretical basis for matching design of hydraulic load simulator (HLS) with aerocraft actuator in hardware-in-loop test, which is expected to help actuator designers overcome the obsta...This paper intends to provide theoretical basis for matching design of hydraulic load simulator (HLS) with aerocraft actuator in hardware-in-loop test, which is expected to help actuator designers overcome the obstacles in putting forward appropriate requirements of HLS. Traditional research overemphasizes the optimization of parameters and methods for HLS controllers. It lacks deliberation because experimental results and project experiences indicate different ultimate performance of a specific HLS. When the actuator paired with this HLS is replaced, the dynamic response and tracing precision of this HLS also change, and sometimes the whole system goes so far as to lose control. Based on the influence analysis of the preceding phenomena, a theory about matching design of aerocraft actuator with HLS is presented, together with two paired new concepts of "Standard Actuator" and "Standard HLS". Further research leads to seven important conclusions of matching design, which suggest that appropriate stiffness and output torque of HLS should be carefully designed and chosen for an actuator. Simulation results strongly support that the proposed principle of matching design can be anticipated to be one of the design criteria for HLS, and successfully used to explain experimental phenomena and project experiences.展开更多
A direct drive actuator (DDA) with direct drive valves (DDVs) as the control device is an ideal solution for a flight actuation system. This paper presents a novel triple-redundant voice coil motor (TRVCM) used ...A direct drive actuator (DDA) with direct drive valves (DDVs) as the control device is an ideal solution for a flight actuation system. This paper presents a novel triple-redundant voice coil motor (TRVCM) used for redundant DDVs. The TRVCM features electrical/mechanical hybrid triple-redundancy by securing three stators along with three moving coils in the same frame. A permanent magnet (PM) Halbach array is employed in each redundant VCM to simplify the system structure. A back-to-back design between neighborly redundancies is adopted to decouple the magnetic flux linkage. The particle swarm optimization (PSO) method is implemented to optimize design parameters based on the analytical magnetic circuit model. The optimization objective function is defined as the acceleration capacity of the motor to achieve high dynamic performance. The optimal geometric parameters are verified with 3D magnetic field finite element analysis (FEA). A research prototype has been developed for experimental purpose. The experimental results of magnetic field density and force output show that the proposed TRVCM has great potential of applications in DDA systems.展开更多
基金Supported by the National Key Basic Research Program of China(No.2014CB046405)
文摘As the power transmission system of an aircraft,a hydraulic pipeline system is equivalent to the " blood vessel" of the aircraft. With the development of aircraft hydraulic system to high pressure,high speed and high power ratio,the fluid-structure interaction vibration mechanism of hydraulic pipeline is more complex and the influence of friction coupling on vibration cannot be ignored. The fluid-structure interaction of hydraulic pipeline will lead to system vibration,lower reliability of system operation and even pipeline rupture. Taking a hydraulic pipeline of C919 aircraft wingtip as the research object,a 14-equation model of fluid-structure interaction vibration considering friction coupling effect is established in this paper. The effects of friction and fluid parameters on the pipeline fluid-structure interaction vibration characteristics are studied and verified by experiments. The research results will provide theoretical guidance for the analysis of the pipeline fluid-structure interaction vibration and have important theoretical significance and great engineering value for promoting the localization process of large aircraft.
基金National Natural Science Foundation of China (50825502)
文摘Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear parameters, viz. the flow gain coefficient of servo valve and total factors of flow-pressure coefficient. Taking trace error of torque control system to zero as control object, this article designs the adaptive nonlinear optimal compensation control strategy, which regards torque control output of closed-loop controller converging to zero as the control target, to optimize torque tracking performance. Electro-hydraulic load simulator is a typical case of the torque system which is strongly coupled with a hydraulic positioning system. This article firstly builds and analyzes the mathematical models of hydraulic torque and positioning system, then designs an adaptive nonlinear optimal compensation controller, proves the validity of parameters estimation, and shows the comparison data among three control structures with various typical operating conditions, including proportion-integral-derivative (PID) controller only, the velocity synchronizing controller plus P1D controller and the proposed adaptive nonlinear optimal compensation controller plus PID controller. Experimental results show that systems' nonlinear parameters are estimated exactly using the proposed method, and the trace accuracy of the torque system is greatly enhanced by adaptive nonlinear optimal compensation control, and the torque servo system capability against sudden disturbance can be greatly improved.
基金the support of the National Natural Science Foundation of China (No. 51235002)the National Science Foundation for Distinguished Young Scholars (No. 50825502)
文摘Based on the structure of a certain type of aviation axial-piston pump's valve plate which adopts a pre-pressurization fluid path (consisting a damping hole, a buffer chamber, and an orifice) to reduce flow ripple, a single-piston model of the aviation axial-piston pump is presented. This sin- gle-piston model comprehensively considers fluid compressibility, orifice restriction effect, fluid resistance in the capillary tube, and the leakage flow. Besides, the instantaneous discharge areas used in the single-piston model have been calculated in detail. Based on the single-piston model, a multi-piston pump model has been established according to the simple hydraulic circuit. The sin- gle- and multi-piston pump models have been realized by the S-function in Matlab/Simulink. The developed multi-piston pump model has been validated by being compared with the numerical result by computational fluid dynamic (CFD). The effects of the pre-pressurization fluid path on the flow ripple and the instantaneous pressure in the piston chamber have been studied and opti- mized design recommendations for the aviation axial-piston pump have been given out.
基金National Natural Science Foundation for Distinguished Young Scholars of China (50825502)
文摘This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conven- tional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlin- ear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptoti- cally stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parame- ters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncer- tainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved.
基金National Science Fund for Distinguished Young Scholars (50825502)
文摘Three degrees of freedom (3-DOF) Helmholtz resonator which consists of three cylindrical necks and cavities connected in series (neck-cavity-neck-cavity-neck-cavity) is suitable to reduce flow pulsation in hydraulic system. A novel lumped parameter model (LPM) of 3-DOF Helmholtz resonator in hydraulic system is developed which considers the viscous friction loss of hy- draulic fluid in the necks. Applying the Newton's second law of motion to the equivalent mechanical model of the resonator, closed-form expression of transmission loss and resonance frequency is presented. Based on the LPM, an optimal design method which employs rotate vector optimization method (RVOM) is proposed. The purpose of the optimal design is to search the reso- nator's unknown parameters so that its resonance frequencies can coincide with the pump-induced flow pulsation harmonics respectively. The optimal design method is realized to design 3-DOF Helmholtz resonator for a certain type of aviation piston pump hydraulic system. The optimization result shows the feasibility of this method, and the simulation under optimum parame- ters reveals that the LPM can get the same precision as transfer matrix method (TMM).
文摘Low-velocity tracking capability is a key performance of flight motion simulator (FMS), which is mainly affected by the nonlinear friction force. Though many compensation schemes with ad hoc friction models have been proposed, this paper deals with low-velocity control without friction model, since it is easy to be implemented in practice. Firstly, a nonlinear model of the FMS middle frame, which is driven by a hydraulic rotary actuator, is built. Noting that in the low velocity region, the unmodeled friction force is mainly characterized by a changing-slowly part, thus a simple adaptive law can be employed to learn this changing-slowly part and compensate it. To guarantee the boundedness of adaptation process, a discontinuous projection is utilized and then a robust scheme is proposed. The controller achieves a prescribed output tracking transient performance and final tracking accuracy in general while obtaining asymptotic output tracking in the absence of modeling errors. In addition, a saturated projection adaptive scheme is proposed to improve the globally learning capability when the velocity becomes large, which might make the previous proposed projection-based adaptive law be unstable. Theoretical and extensive experimental results are obtained to verify the high-performance nature of the proposed adaptive robust control strategy.
基金supported by the National Basic Research and Development Program of China(No.2014CB046402)the National Natural Science Foundation of China(No.51175014)‘‘111" Program of China
文摘Actuation system is a vital system in an aircraft, providing the force necessary to move flight control surfaces. The system has a significant influence on the overall aircraft performance and its safety. In order to further increase already high reliability and safety, Airbus has imple- mented a dissimilar redundancy actuation system (DRAS) in its aircraft. The DRAS consists of a hydraulic actuation system (HAS) and an electro-hydrostatic actuation system (EHAS), in which the HAS utilizes a hydraulic source (HS) to move the control surface and the EHAS utilizes an elec- trical supply (ES) to provide the motion force. This paper focuses on the performance degradation processes and fault monitoring strategies of the DRAS, establishes its reliability model based on the generalized stochastic Petri nets (GSPN), and carries out a reliability assessment considering the fault monitoring coverage rate and the false alarm rate. The results indicate that the proposed reli- ability model of the DRAS, considering the fault and redundancy degradation process and identify monitoring, can express its fault logical relation potential safety hazards.
基金supported by the National Key Basic Research Program of China (No. 2014CB046406)the Key Projects of the National Natural Science Foundation of China (No. 51235002)
文摘This paper studies a nonlinear robust control algorithm of the electro-hydraulic load simulator (EHLS). The tracking performance of the EHLS is mainly limited by the actuator's motion disturbance, flow nonlinearity, and friction, etc. The developed controller is developed based on the nonlinear motion loading model. The problems of the actuator's disturbance and flow nonlinearity are considered. To address the friction problem, the friction model of the loading motor is identified experimentally. The friction disturbance is compensated using the obtained friction model. Therefore, this paper considers the main three factors comprehensively. The developed algorithm is easy to apply since the controller can be obtained just with one step back-stepping design. The stability of the developed algorithm is proven via Lyapunov analysis. Both co-simulation and experiments are performed to verify the effectiveness of this method.
基金the National Nature Science Foundation for Distinguished Young Scholars of China(Grant No.50825502)
文摘The necessity of improving the air traffic and reducing the aviation emissions drives to investigate automatic steering for aircraft to effectively roll on the ground. This paper addresses the path following control problem of aircraft-on-ground and focuses on the task that the aircraft is required to follow the desired path on the runway by nose wheel automatic steering. The proposed approach is based on dynamical adaptive backstepping so that the system model does not have to be transformed into a canonical triangular form which is necessary in conventional backstepping design. This adaptive controller performs well despite the lack of information on the aerodynamic load and the tire cornering stiffness parameters. Simulation results clearly demonstrate the advantages and effectiveness of the proposed approach.
基金sponsored by the National Basic Research Program of China (No.2014CB046406)the Key Projects of the National Natural Science Foundation (No.51235002)
文摘This paper investigates motion coupling disturbance(the so called surplus torque)in the hardware-in-the-loop(HIL)experiments.The''velocity synchronization scheme''was proposed by Jiao for an electro-hydraulic load simulator(EHLS)in 2004.In some situations,however,the scheme is limited in the implementation for certain reasons,as is the case when the actuator's valve signal is not available or it is seriously polluted by noise.To solve these problems,a''dual-loop scheme''is developed for EHLS.The dual-loop scheme is a combination of a torque loop and a position synchronization loop.The role of the position synchronization loop is to decouple the motion disturbance caused by the actuator system.To verify the feasibility and effectiveness of the proposed scheme,extensive simulations are performed using AMESim.Then,the performance of the developed method is validated by experiments.
基金supported by the National Basic Research Program of China(No.2014CB046406)the National Natural Science Foundation of China(No.51235002)
文摘A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion simulators is proposed. Compared with other three-order models of hydraulic rotary actuators, the proposed controller based on first-order nonlinear model is more easily applied in practice, whose control law is relatively simple. It not only does not need high-order derivative of desired command,but also does not require the feedback signals of velocity, acceleration and jerk of hydraulic rotary actuators. Another advantage is that it does not rely on any information of friction, inertia force and external disturbing force/torque, which are always difficult to resolve in flight motion simulators. Due to the special composite vane seals of rectangular cross-section and goalpost shape used in hydraulic rotary actuators, the leakage model is more complicated than that of traditional linear hydraulic cylinders. Adaptive multi-input single-output(MISO) fuzzy compensators are introduced to estimate nonlinear uncertain functions about leakage and bulk modulus. Meanwhile, the decomposition of the uncertainties is used to reduce the total number of fuzzy rules. Different from other adaptive fuzzy compensators, a discontinuous projection mapping is employed to guarantee the estimation process to be bounded. Furthermore, with a sufficient number of fuzzy rules, the controller theoretically can guarantee asymptotic tracking performance in the presence of the above uncertainties, which is very important for high-accuracy tracking control of flight motion simulators.Comparative experimental results demonstrate the effectiveness of the proposed algorithm, which can guarantee transient performance and better final accurate tracking in the presence of uncertain nonlinearities and parametric uncertainties.
基金the Aviation Science Foundation (No. 20110951009) of ChinaNational Nature Science Foundation for Distinguished Young Scholars ( No. 50825502 ) of China for the financial support
文摘This paper intends to provide theoretical basis for matching design of hydraulic load simulator (HLS) with aerocraft actuator in hardware-in-loop test, which is expected to help actuator designers overcome the obstacles in putting forward appropriate requirements of HLS. Traditional research overemphasizes the optimization of parameters and methods for HLS controllers. It lacks deliberation because experimental results and project experiences indicate different ultimate performance of a specific HLS. When the actuator paired with this HLS is replaced, the dynamic response and tracing precision of this HLS also change, and sometimes the whole system goes so far as to lose control. Based on the influence analysis of the preceding phenomena, a theory about matching design of aerocraft actuator with HLS is presented, together with two paired new concepts of "Standard Actuator" and "Standard HLS". Further research leads to seven important conclusions of matching design, which suggest that appropriate stiffness and output torque of HLS should be carefully designed and chosen for an actuator. Simulation results strongly support that the proposed principle of matching design can be anticipated to be one of the design criteria for HLS, and successfully used to explain experimental phenomena and project experiences.
基金supported by National Science Foundation for Distinguished Young Scholars of China(No.50825502)National Natural Science Foundation of China(No.51105016)
文摘A direct drive actuator (DDA) with direct drive valves (DDVs) as the control device is an ideal solution for a flight actuation system. This paper presents a novel triple-redundant voice coil motor (TRVCM) used for redundant DDVs. The TRVCM features electrical/mechanical hybrid triple-redundancy by securing three stators along with three moving coils in the same frame. A permanent magnet (PM) Halbach array is employed in each redundant VCM to simplify the system structure. A back-to-back design between neighborly redundancies is adopted to decouple the magnetic flux linkage. The particle swarm optimization (PSO) method is implemented to optimize design parameters based on the analytical magnetic circuit model. The optimization objective function is defined as the acceleration capacity of the motor to achieve high dynamic performance. The optimal geometric parameters are verified with 3D magnetic field finite element analysis (FEA). A research prototype has been developed for experimental purpose. The experimental results of magnetic field density and force output show that the proposed TRVCM has great potential of applications in DDA systems.