A Robust Control Method for Self-Regulating Error Symbol Integral of Electro-hydraulic Torque Servo System

Abstract

The invention discloses a method for self-adjustment error symbol integral robust control of an electro-hydraulic torque servo system. With an electro-hydraulic load simulator as a research object, the method comprises the steps of establishing a non-linear mathematical model of the electro-hydraulic torque servo system; designing a self-adjustment error symbol integral robust controller; applying the Lyapunov stability theory to perform stability proof on the system, and applying a Barbalat lemma to obtain global asymptotically-stable results of the system. According to the method, the controller design is simplified, the problems of symbol function gain adjustment conservation and potential high-gain feedback in a conventional RISE control method are effectively solved, and a control voltage of the controller is continuous and facilitates engineering practical application.

Description

technical field

[0001] The invention belongs to the field of electro-hydraulic servo control, in particular to a self-adjusting error sign integral robust control method of an electro-hydraulic moment servo system. Background technique

[0002] The electro-hydraulic load simulator is a typical electro-hydraulic torque servo system. Its main application is to load the position servo mechanism of the steering gear of the aircraft, and simulate the aerodynamic load on the rudder surface during flight on the ground, so as to constitute the control system of the flight control system. Half-in-the-loop simulation. The simulation computer is embedded with a six-degree-of-freedom model of the aircraft established based on wind tunnel data and flight equations, and calculates the aerodynamic hinge moment load during the entire flight in real time according to the relevant physical quantities such as flight height, speed, rudder surface angle, and atmospheric data, forming Moment loa...

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