基于滑模控制的机载作动器摩擦转矩补偿研究

针对机载电动静液作动器(EHA)伺服系统中非线性摩擦产生的不良影响,提出了非线性滑模控制(SMC)方法。在对EHA伺服系统以及非线性摩擦特性进行分析的基础上,建立了EHA伺服系统各部分模型。通过SMC方法与典型比例-积分-微分(PID)控制方法的比较可知,滑模控制对抑制位置阶跃信号振荡、消除由于摩擦引起的正弦信号平顶(死区)等方面效果显著。仿真结果证明了非线性Stribeck曲线摩擦模型的合理性,也表明滑模控制器对非线性控制对象具有良好的控制效果。

Friction Compensation of Aircraft Actuator Based on Soliding Model Control

A nonlinear SMC scheme was proposed against the harmful effects with nonlinear friction on aircraft EHA servo systems.Based on the analysis of EHA and the nonlinear friction,the models of EHA servo system were established.With comparison between SMC and typical PID control,it is remarkable that the trajectory oscillation of step signals is restrained and the deadband of sine signals is avoided with SMC.The simulation results indicate that the Stribeck model of nonlinear friction established is reasonable an...