航天电静液伺服系统复合自适应跟踪控制

doi:10.7527/S1000-6893.2024.30160

Abstract

Abstract:

In addressing challenges such as slow parameter convergence， suboptimal tracking performance， and rigorous persistent-excitation conditions encountered in the adaptive control methods within electro-hydrostatic actuator servo system， this study explores the development of a composite learning adaptive position tracking control algorithm. Leveraging the dynamics model of the electro-hydrostatic actuator servo system， the adaptive tracking controller is formulated through a combination of backstepping control and composite learning. Notably， parameter estimation is simultaneously guided by both tracking error and prediction error， ensuring convergence of both the tracking error and parameter estimation error under interval-excitation conditions， and the consistent stability of the controller is proved by the Lyapunov theory. The simulation and experimental findings indicate that， in contrast to traditional adaptive control， the proposed method eliminates the need for a cylinder acceleration signal and demonstrating superior trajectory tracking. Following the implementation of composite learning， the system's tracking error registers a significant 50% reduction and demonstrating heightened resilience.

Key words: adaptive control, electro-hydrostatic actuator servo system, composite learning, trajectory tracking, parameter convergence

CLC Number:

Zhenhua DOU, Kai GUO, Xiaoming HUANG, Jie SUN, Zheqing ZUO, Shoujun ZHAO. Composite adaptive tracking control of aerospace electro⁃hydrostatic actuator servo system[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(15): 630160-630160.

Figures/Tables 12

Fig.1

Table 1

EHA system physical parameters

参数	数值
$τ m$ /ms	23.96
$D o v$ /（mL·r^-1）	5
$K p$ /（r·（s·m）^-1）	5
$A 1$ /m²	1.26×10^-3
$A 2$ /m²	6.41×10^-3
$β ̂ e$ /GPa	1.0
$V ̂ 01$ /m³	2.4×10^-3
$V ̂ 02$ /m³	1.4×10^-3
$m ̂$ /kg	10
$F ̂ f$ /N	100
$b ̂ p$ /（N·s·m^-1）	100

Table 1

Table 2

EHA system control parameters

参数	k_c11	k_c12	k_c13	k_c21	k_c22	$κ$
数值	10	25×10⁵	5×10⁵	1.5×10^-4	1	5×10^-3
参数	$ω$	$ς$	$K W 1$	$K W 2$	$τ d H$	$τ d P$
数值	200	1	2.5I	2.5I	6	6

Table 2

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

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Composite adaptive tracking control of aerospace electro⁃hydrostatic actuator servo system

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