Design and performance analysis of position-based impedance control for an electrohydrostatic actuation system

作     者：Yongling FU Xu HAN Nariman SEPEHRI Guozhe ZHOU Jian FU Liming YU Rongrong YANG 

作者机构：School of Mechanical Engineering and Automation Beihang University Beijing 100083 China Department of Mechanical Engineering University of Manitoba Manitoba R3T 2N2 Canada China Academy of Launch Vehicle Technology Beijing 100076 China Flying College Beihang University Beijing 100083 China 

出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)

年 卷 期：2018年第31卷第3期

页      面：584-596页

核心收录：

学科分类：080804[工学-电力电子与电力传动] 0808[工学-电气工程] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 0801[工学-力学（可授工学、理学学位）] 

基　　金：completed in the Fluid Power and Tele-Robotics Research Laboratory at the University of Manitoba the supports of the Natural Sciences and Engineering Research Council(NSERC)of Canada China Scholarship Council(CSC) the National Natural Science Foundation of China(Nos.51275021 and 61327807) 

主　　题：Actuation system Aerospace Electrohydrostatic actuator Force control Nonlinear dynamics Particle swarm optimization Position control 

摘      要：Electrohydrostatic actuator（EHA） is a type of power-by-wire actuator that is widely implemented in the aerospace industry for flight control, landing gears, thrust reversers, thrust vector control, and space robots. This paper presents the development and evaluation of positionbased impedance control（PBIC） for an EHA. Impedance control provides the actuator with compliance and facilitates the interaction with the environment. Most impedance control applications utilize electrical or valve-controlled hydraulic actuators, whereas this work realizes impedance control via a compact and efficient EHA. The structures of the EHA and PBIC are firstly introduced. A mathematical model of the actuation system is established, and values of its coefficients are identified by particle swarm optimization. This model facilitates the development of a position controller and the selection of target impedance parameters. A nonlinear proportional-integral position controller is developed for the EHA to achieve the accurate positioning requirement of PBIC. The controller compensates for the adverse effect of stiction, and a position accuracy of 0.08 mm is *** experimental results are presented to verify the applicability of PBIC to the EHA. The compliance of the actuator is demonstrated in an impact test.