Adaptive rise control method for load simulator based on third-order mathematical model

Abstract

The invention discloses a load simulator adaptive RISE control method based on a new model, which belongs to the field of electro-hydraulic servo control; the control method simultaneously considers the uncertainty of system parameters and uncertain nonlinearities such as external disturbances, and is aimed at The parameter uncertainty is estimated by continuous projection function to ensure that the estimated value is within the range of parameter uncertainty; the continuous RISE controller is designed nonlinearly for external disturbance and other uncertainties, and the theoretical result of asymptotic tracking is obtained. The present invention has the advantage of accurate parameter estimation, adopts the method of fast dynamic compensation to overcome the shortcoming of poor output tracking performance in self-adaptation, and can obtain better simulation results in terms of parameter estimation and tracking error; The control voltage of the designed nonlinear robust controller is continuous, which is beneficial to the application in engineering practice.

Description

technical field [0001] The invention belongs to the field of electro-hydraulic servo control, in particular to a load simulator adaptive RISE control method based on a novel model. Background technique [0002] The load simulator is used to simulate the aerodynamic moment on the rudder surface of the aircraft and other moving objects during flight and movement. It is one of the important ground simulation equipment for missile and other weapon systems. The load simulator is also called the force / torque servo loading system, which belongs to the category of force / torque servo control system and has a structure similar to that of the ordinary force / torque servo system. Such as figure 1 As shown, a general load simulator mainly includes a servo controller, an actuator, and a detection element, etc., the core of which is the servo controller, and the expected output of the system is the loading force / torque. [0003] According to the different loading actuators, load simulator...

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Problems solved by technology

[0009] The purpose of the present invention is to provide a load simulator adaptive RISE control method based on a new model, which solves the neglected model uncertainty in the existing load simulator first-order model, based on traditional adaptive robust / sliding mode The performance of the controller designed by the control method is limited, and there are problems of high gain feedback phenomenon and poor parameter estimation accuracy based on the general adaptive robust control method.

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