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Robust Control for Static Loading of Electro-hydraulic Load Simulator with Friction Compensation 认领 引用 被引量：25
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作者 YAO Jianyong JIAO Zongxia YAO Bin 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2012年第6期954-962,共9页
Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness t... Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy. 展开更多
关键词 electro-hydraulic load simulator robust control friction compensation feedback linearization LuGre model nonlinear control state estimation
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Pressure-tracking control of a novel electro-hydraulic braking system considering friction compensation 认领 引用 被引量：17
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作者 雍加望 高峰 +1 位作者 丁能根 HE Yu-ping 《Journal of Central South University》 SCIE EI CAS CSCD 2017年第8期1909-1921,共13页
This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake(EHB) system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consis... This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake(EHB) system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consisting of actuator and hydraulic sub-systems, is derived for describing the fundamental dynamics of the system and designing the controller. Due to sensor inaccuracy and measurement noise, a Kalman filter is constructed to estimate push rod stroke for generating desired master cylinder pressure. To improve pressure-tracking accuracy, a linear friction model is generated by linearizing the nonlinear Tustin friction model, and the unmodeled friction disturbances are assumed unknown but bounded. A sliding mode controller is designed for compensating friction disturbances, and the stability of the controller is investigated using the Lyapunov method. The performance of the proposed integrated controller is evaluated with a hardware-in-the-loop(HIL) test platform equipped with the EHB prototype. The test results demonstrate that the EHB system with the proposed integrated controller not only achieves good pressure-tracking performance, but also maintains robustness to friction disturbances. 展开更多
关键词 electro-hydraulic brake brake-by-wire Kalman filter sliding mode control pressure-tracking friction compensation
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Application in prestiction friction compensation for angular velocity loop of inertially stabilized platforms 认领 引用 被引量：7
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作者 Zhang Zhiyong Li Zhiqiang +2 位作者 Zhou Qingkun Zhang Lianchao Fan Dapeng 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2014年第3期655-662,共8页
To overcome the influence of the nonlinear friction on the gimbaled servo-system of an inertial stabilized platforms(ISPs)with DC motor direct-drive,the methods of modeling and compensation of the nonlinear friction a... To overcome the influence of the nonlinear friction on the gimbaled servo-system of an inertial stabilized platforms(ISPs)with DC motor direct-drive,the methods of modeling and compensation of the nonlinear friction are proposed.Firstly,the inapplicability of LuGre model when trying to interpret the backward angular displacement in the prestiction regime is observed experimentally and the reason is deduced theoretically.Then,based on the dynamic model of direct-drive ISPs,a modified LuGre model is proposed to describe the characteristic of the friction in the prestiction regime.Furthermore,the state switch condition of the three friction regimes including presliding,gross sliding and prestiction is presented.Finally,a composite compensation controller including a nonlinear friction observer and a feedforward compensator based on the novel LuGre model is designed to restrain the nonlinear friction and to improve the control precision.Experimental results indicate that compared with those of the conventional proportion-integrationdifferentiation(PID)control method and the PID plus LuGre model-based friction compensation method,the dwell-time has decreased from 0.2 s to almost 0 s,the position error decreased to 86.7%and the peak-to-peak value of position error decreased to 80%after the novel compensation controller is added.It concludes that the composite compensation controller can greatly improve the control precision of the dynamic sealed ISPs. 展开更多
关键词 Closed loop control systems Friction compensation Inertially stabilized platforms Prestiction Stiction
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