An Adaptive Decoupling Control Method Based on Motion State Synchronization

Abstract

The invention provides a self-adaption decoupling control method based on motion state synchronization. The self-adaption decoupling control method based on motion state synchronization is applied to a dissimilarity redundancy hybrid actuation system composed of a hydraulic actuator (HA) and an electro-hydrostatic actuator (EHA). According to the self-adaption decoupling control method based on motion state synchronization, the coupling model of the dissimilarity redundancy hybrid actuation system is established, and the different items between the HA and the EHA are compensated for; the state equation of a control surface model is decomposed, and a follow-up control instruction of the sum of the displacement of the HA and the EHA is generated; a synchronous self-adaptation decoupling control method is designed, the influence of a coupling item on the system is eliminated, accurate follow-up control over the control surface displacement instruction is achieved, and the force-fighting problem between different actuators is solved. By the adoption of the self-adaption decoupling control method based on motion state synchronization, accurate follow-up control over the control surface displacement instruction can be achieved, and the magnitude of force-fighting between different actuators is effectively reduced; in addition, the designed self-adaption control rule can accurately approach the true values of estimated parameters, and therefore the influence of uncertainty of the parameters on the control performance of the system is eliminated.

Description

technical field [0001] The invention relates to the synchronous adaptive decoupling control of a non-similar redundant hybrid actuation system (Hybrid Actuation System, HAS) composed of a hydraulic actuator (Hydraulic Actuator, HA) and an electro-hydrostatic actuator (Electro-Hydrostatic Actuator, EHA). The method particularly relates to an adaptive decoupling control method based on motion state synchronization. Background technique [0002] With the development of modern commercial airliners in the direction of more and more large-scale, the reliability requirements of aircraft actuation systems are also getting higher and higher. In order to improve the reliability of the actuation system and avoid common cause failures, foreign advanced aircraft design companies began to adopt a new system of distributed non-similar redundant hybrid actuation system. Among them, the non-similar redundant hybrid actuation system (HAS) composed of a power-by-wire actuation system and a tr...

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Problems solved by technology

[0003] However, when the HAS works in the active / active mode (that is, when driving the steering surface to deflect at the same time), there is mutual coupling between the outputs of the two actuators HA and EHA under the same input command: the change of the HA output force is applied to the steering surface , the EHA output force changes through the compound hinge mechanism of the rudder surface, and vice versa

There is a strong mutual coupling between the two actuators. If the two actuators cannot be driven synchronously, there will be serious force disputes between the outputs of the two sets of actuators, which will directly affect the driving efficiency and control accuracy, and sometimes even will damage the system

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