Motion synchronization in a dual redundant HA/EHA system by using a hybrid integrated intelligent control design

查看全文 作　　者：Waheed Ur [1]Rehman;Wang [1]Shaoping;Wang [1]Xingjian;Fan [1]Lei;Kamran Ali [1]Shah

机构地区：[1]School of Automation Science and Electrical Engineering,Beihang University

出　　处：《Chinese Journal of Aeronautics》索引2016年第29卷第3期,共10页

基　　金：supported by the National Basic Research Program of China(973 Program)(No.2014CB046402);the National Natural Science Foundation of China(Nos.51575019,51305011);the 111 Program of China 摘　　要：This paper presents an integrated fuzzy controller design approach to synchronize a dissimilar redundant actuation system of a hydraulic actuator(HA) and an electro-hydrostatic actuator(EHA) with system uncertainties and disturbances.The motion synchronous control system consists of a trajectory generator,an individual position controller for each actuator,and a fuzzy force tracking controller(FFTC) for both actuators.The trajectory generator provides the desired motion dynamics and designing parameters of the trajectory which are taken according to the dynamic characteristics of the EHA.The position controller consists of a feed-forward controller and a fuzzy position tracking controller(FPTC) and acts as a decoupled controller,improving position tracking performance with the help of the feed-forward controller and the FPTC.The FFTC acts as a coupled controller and takes into account the inherent coupling effect.The simulation results show that the proposed controller not only eliminates initial force fighting by synchronizing the two actuators,but also improves disturbance rejection performance. 关键词：同步控制系统 HA系统双冗余控制设计集成智能液压执行机构模糊控制器位置控制器

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Motion synchronization in a dual redundant HA/EHA system by using a hybrid integrated intelligent control design

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