This article, in order to precisely impose friction on aircraft and weapon actuation systems, presents a new friction loading method characteristic of ＂torque-zero velocity＂ switching control with an electro-hydraul...This article, in order to precisely impose friction on aircraft and weapon actuation systems, presents a new friction loading method characteristic of ＂torque-zero velocity＂ switching control with an electro-hydraulic load simulator. As the general Stribeck friction model has little related to static friction, it proposes a ＂torque-zero velocity＂ switcher, in which a zero-velocity controller is developed to load the static friction and a torque controller the kinetic friction. With the help of mathematical modeling, this article designs a ＂torque-zero velocity＂ switching controller and, correspondingly, provides a ＂dual-threshold judgment＂ algorithm. Simulation results indicate that the proposed method can be successfully used to carry out the static and kinetic friction simulation with an electro-hydraulic load simulator.展开更多
Passive torque servo system （PTSS） simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturb...Passive torque servo system （PTSS） simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torque control （AFTC） algorithm is proposed for PTSS in this paper, which reflects the essential characteristics of PTSS and guarantees transient tracking performance as well as final tracking accuracy. Takagi-Sugeno （T-S） fuzzy logic system is utilized to compensate parametric uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied using small gain theorem and the control system is proved to be semiglobally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an electric load simulator （ELS）, and the comparative experimental results indicate that AFTC controller is effective for PTSS.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
基金National Natural Science Foundation of China （50825502）
文摘This article, in order to precisely impose friction on aircraft and weapon actuation systems, presents a new friction loading method characteristic of ＂torque-zero velocity＂ switching control with an electro-hydraulic load simulator. As the general Stribeck friction model has little related to static friction, it proposes a ＂torque-zero velocity＂ switcher, in which a zero-velocity controller is developed to load the static friction and a torque controller the kinetic friction. With the help of mathematical modeling, this article designs a ＂torque-zero velocity＂ switching controller and, correspondingly, provides a ＂dual-threshold judgment＂ algorithm. Simulation results indicate that the proposed method can be successfully used to carry out the static and kinetic friction simulation with an electro-hydraulic load simulator.
基金National High-tech Research and Development Program of China (2009AA04Z412)"111" ProjectBUAA Fund of Graduate Education and Development
文摘Passive torque servo system （PTSS） simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torque control （AFTC） algorithm is proposed for PTSS in this paper, which reflects the essential characteristics of PTSS and guarantees transient tracking performance as well as final tracking accuracy. Takagi-Sugeno （T-S） fuzzy logic system is utilized to compensate parametric uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied using small gain theorem and the control system is proved to be semiglobally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an electric load simulator （ELS）, and the comparative experimental results indicate that AFTC controller is effective for PTSS.
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.
