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Adaptive Nonlinear Optimal Compensation Control for Electro-hydraulic Load Simulator

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Chinese Journal of Aeronautics 2010年第6期23卷 720-733页

作者： Yao Jianyong Jiao Zongxia shang yaoxing Huang Cheng National Key Laboratory of Science and Technology on Holistic Control Beijing University of Aeronautics and AstronauticsBeijing 100191China

Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear parameters, viz. the flow gain coefficient of servo valve and total factors of flow-pressure coefficient. Taking trace error of torque control system to zero as control object, this article designs the adaptive nonlinear optimal compensation control strategy, which regards torque control output of closed-loop controller converging to zero as the control target, to optimize torque tracking performance. Electro-hydraulic load simulator is a typical case of the torque system which is strongly coupled with a hydraulic positioning system. This article firstly builds and analyzes the mathematical models of hydraulic torque and positioning system, then designs an adaptive nonlinear optimal compensation controller, proves the validity of parameters estimation, and shows the comparison data among three control structures with various typical operating conditions, including proportion-integral-derivative (PID) controller only, the velocity synchronizing controller plus P1D controller and the proposed adaptive nonlinear optimal compensation controller plus PID controller. Experimental results show that systems' nonlinear parameters are estimated exactly using the proposed method, and the trace accuracy of the torque system is greatly enhanced by adaptive nonlinear optimal compensation control, and the torque servo system capability against sudden disturbance can be greatly improved.

关键词： torque control nonlinear control optimal control adaptive electro-hydraulic load simulator parameter estimation position disturbance

Fuzzy robust nonlinear control approach for electro-hydraulic flight motion simulator

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Chinese Journal of Aeronautics 2015年第1期28卷 294-304页

作者： Han Songshan Jiao Zongxia Wang Chengwen shang yaoxing School of Automation Science and Electrical Engineering Beihang University

A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion simulators is proposed. Compared with other three-order models of hydraulic rotary actuators, the proposed controller based on first-order nonlinear model is more easily applied in practice, whose control law is relatively simple. It not only does not need high-order derivative of desired command,but also does not require the feedback signals of velocity, acceleration and jerk of hydraulic rotary actuators. Another advantage is that it does not rely on any information of friction, inertia force and external disturbing force/torque, which are always difficult to resolve in flight motion simulators. Due to the special composite vane seals of rectangular cross-section and goalpost shape used in hydraulic rotary actuators, the leakage model is more complicated than that of traditional linear hydraulic cylinders. Adaptive multi-input single-output（MISO） fuzzy compensators are introduced to estimate nonlinear uncertain functions about leakage and bulk modulus. Meanwhile, the decomposition of the uncertainties is used to reduce the total number of fuzzy rules. Different from other adaptive fuzzy compensators, a discontinuous projection mapping is employed to guarantee the estimation process to be bounded. Furthermore, with a sufficient number of fuzzy rules, the controller theoretically can guarantee asymptotic tracking performance in the presence of the above uncertainties, which is very important for high-accuracy tracking control of flight motion *** experimental results demonstrate the effectiveness of the proposed algorithm, which can guarantee transient performance and better final accurate tracking in the presence of uncertain nonlinearities and parametric uncertainties.

关键词： hydraulic guarantee uncertain projection rotary leakage desired simulator torque asymptotic

A novel integrated self-powered brake system for more electric aircraft

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Chinese Journal of Aeronautics 2018年第5期31卷 976-989页

作者： yaoxing shang Xiaochao LIU Zongxia JIAO Shuai WU School of Automation Science and Electrical Engineering Beihang University

Traditional hydraulic brake systems require a complex system of pipelines between an aircraft engine driven pump（EDP） and brake actuators, which increases the weight of the aircraft and may even cause serious vibration and leakage problems. In order to improve the reliability and safety of more electric aircraft（MEA）, this paper proposes a new integrated self-powered brake system（ISBS） for MEA. It uses a hydraulic pump geared to the main wheel to recover a small part of the kinetic energy of a landing aircraft. The recovered energy then serves as the hydraulic power supply for brake actuators. It does not require additional hydraulic source, thus removing the pipelines between an EDP and brake actuators. In addition, its self-powered characteristic makes it possible to brake as usual even in an emergency situation when the airborne power is lost. This paper introduces the working principle of the ISBS and presents a prototype. The mathematical models of a taxiing aircraft and the ISBS are established. A feedback linearization control algorithm is designed to fulfill the anti-skid control. Simulations are carried out to verify the feasibility of the ISBS, and experiments are conducted on a ground inertia brake test bench. The ISBS presents a good performance and provides a new potential solution in the field of brake systems for MEA.

关键词： Hydraulic Feedback linearization control More electric aircraft Novel brake system Self-powered

An experimental study of the dual-loop control of electro-hydraulic load simulator (EHLS)

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Chinese Journal of Aeronautics 2013年第6期26卷 1586-1595页

作者： Wang Chengwen Jiao Zongxia Wu Shuai shang yaoxing Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University

This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）***＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic load simulator（EHLS）in *** some situations,however,the scheme is limited in the implementation for certain reasons,as is the case when the actuator＇s valve signal is not available or it is seriously polluted by *** solve these problems,a＇＇dual-loop scheme＇＇is developed for *** dual-loop scheme is a combination of a torque loop and a position synchronization *** role of the position synchronization loop is to decouple the motion disturbance caused by the actuator *** verify the feasibility and effectiveness of the proposed scheme,extensive simulations are performed using ***,the performance of the developed method is validated by experiments.

关键词： AMESim simulation Dual-loop control scheme Electro-hydraulic load simulator Hardware-in-the-loop(HIL) Surplus torque

Matching design of hydraulic load simulator with aerocraft actuator

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Chinese Journal of Aeronautics 2013年第2期26卷 470-480页

作者： shang yaoxing Yuan Hang Jiao Zongxia Yao Nan Science and Technology on Aerocraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University

This paper intends to provide theoretical basis for matching design of hydraulic load simulator （HLS） with aerocraft actuator in hardware-in-loop test, which is expected to help actuator designers overcome the obstacles in putting forward appropriate requirements of HLS. Traditional research overemphasizes the optimization of parameters and methods for HLS controllers. It lacks deliberation because experimental results and project experiences indicate different ultimate performance of a specific HLS. When the actuator paired with this HLS is replaced, the dynamic response and tracing precision of this HLS also change, and sometimes the whole system goes so far as to lose control. Based on the influence analysis of the preceding phenomena, a theory about matching design of aerocraft actuator with HLS is presented, together with two paired new concepts of ＂Standard Actuator＂ and ＂Standard HLS＂. Further research leads to seven important conclusions of matching design, which suggest that appropriate stiffness and output torque of HLS should be carefully designed and chosen for an actuator. Simulation results strongly support that the proposed principle of matching design can be anticipated to be one of the design criteria for HLS, and successfully used to explain experimental phenomena and project experiences.

关键词： Aerocraft actuator Design Flight simulation Hydraulic drive and control Hydraulic load simulator (HLS) Matching Servo control Stiffness

Nonlinear Adaptive Robust Force Control of Hydraulic Load Simulator

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Chinese Journal of Aeronautics 2012年第5期25卷 766-775页

作者： YAO Jianyong JIAO Zongxia YAO Bin shang yaoxing DONG Wenbin Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China School of Mechanical Engineering Nanjing University of Science and Technology Nanjing 210094 China School of Mechanical Engineering Purdue Universiiy West Lafayette IN 47907 USA Beijing Aerospace Automatic Control Institute Beijing 100854 China

This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conven- tional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlin- ear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptoti- cally stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parame- ters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncer- tainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved.

关键词： hydraulic load simulator adaptive control robust control nonlinear control hydraulic actuators Lyapunov functions

High-effciency aircraft antiskid brake control algorithm via runway condition identification based on an on-off valve array

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Chinese Journal of Aeronautics 2019年第11期32卷 2538-2556页

作者： Dong SUN Zongxia JIAO yaoxing shang Shuai WU Xiaochao LIU School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Ningbo Institute of Technology Beihang UniversityNingbo 315800China

The aircraft antiskid braking system is an important hydraulic system for preventing tire bursts and ensuring safe take-off and landing. The brake system adjusts the force applied on the brake discs by controlling the brake pressure. Traditional aircraft antiskid braking systems achieve antiskid performance by controlling the braking pressure with an electrohydraulic servo *** the pilot stage of an electrohydraulic servo valve is easily blocked by carbonized hydraulic oil, the servo valve would become a dangerous weak point for aircraft safety. This paper proposes a new approach that uses an on-off valve array to replace the servo valve for pressure control. Based on this new pressure control component, an efficient antiskid control algorithm that can utilize this discontinuous feature is proposed. Furthermore, the algorithm has the ability to identify the runway circumstances. To overcome the discontinuity in the process of using an on-off valve array, the Filippov framework is introduced. The conditions of convergence of the system are also *** results of the digital simulations and the hardware-in-the-loop(HIL) braking experiments are used to verify the efficiency and stability of the proposed control algorithm. The method also proves that the on-off valve array can replace the servo valve perfectly as a new type of antiskid braking pressure control component.

关键词： Aircraft Brake Hydraulic system On-off valve array Runway condition identification Servo control

Ground maneuver for front-wheel drive aircraft via deep reinforcement learning

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Chinese Journal of Aeronautics 2021年第10期34卷 166-176页

作者： Hao ZHANG Zongxia JIAO yaoxing shang Xiaochao LIU Pengyuan QI Shuai WU School of Automation Science and Electrical Engineering Bcihcmg UniversityBeijing 100083China Research Institute for Frontier Science Beihang UniversityBeijing 1000H3China Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing 100083China Key Laboratory of Advanced Aircraft Systems(Beihang University) Ministry of Industry and Information TechnologyBeijing 100083China Ningbo Institute of Technology Beihang UniversityNingbo 315800China The State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University.Hangzhou 310027China

The maneuvering time on the ground accounts for 10%–30%of their flight time,and it always exceeds 50%for short-haul aircraft when the ground traffic is *** also contribute significantly to emissions,fuel burn,and noise when taxiing on the ground at *** is an urgent need to reduce aircraft taxiing time on the ***,it is too expensive for airports and aircraft carriers to build and maintain more runways,and it is space-limited to tow the aircraft fast using *** drive capability is currently the best solution for aircraft,which can save the maneuver time for *** idea is proposed that the wheels are driven by APU-powered(auxiliary power unit)motors,APU is working on its efficient point;consequently,the emissions,fuel burn,and noise will be reduced *** Front-wheel drive aircraft,the front wheel must provide longitudinal force to tow the plane forward and lateral force to help the aircraft make a *** traction effects the aircraft’s maximum turning ability,which is difficult to be modeled to guide the controller *** reinforcement learning provides a powerful tool to help us design controllers for black-box models;however,the models of related works are always simplified,fixed,or not easily modified,but that is what we care about *** with complex models can the trained controller be ***-fidelity models that can easily modified are necessary for aircraft ground maneuver controller *** paper focuses on the maneuvering problem of front-wheel drive aircraft,a high-fidelity aircraft taxiing dynamic model is established,including the 6-DOF airframe,landing gears,and nonlinear tire force model.A deep reinforcement learning based controller was designed to improve the maneuver performance of front-wheel drive *** is proved that in some conditions,the DRL based controller outperformed conventional look-ahead controllers.

关键词： Front-wheel drive aircraft Ground maneuver Nose wheel steering Tire model Magic equation Deep reinforcement learning

Dynamic thermal coupling modeling and analysis of wet electro-hydrostatic actuator

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Chinese Journal of Aeronautics 2022年第6期35卷 298-311页

作者： Zongxia JIAO Yanpeng LI Tian YU Chaofan JIANG Ligang HUANG yaoxing shang School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing 100083China Research Institute for Frontier Science Beihang University100083 BeijingChina Ningbo Institute of Technology Beihang UniversityNingbo 315800China

The electro-hydrostatic actuator(EHA)used in more electric aircraft(MEA)has been extensively studied due to its advantages of high reliability and high ***,this high integration results in a small heat dissipation area,leading to high-temperature ***,to reduce the temperature,a wet cooling method of using the pump leakage oil to cool the motor is adopted,which can also increase the difficulty of accurately predicting the system temperature in the early design *** solve this problem,a dynamic coupling thermal model of a wet EHA is proposed in this *** particular,the leakage oil of the pump is used as a coupling item between the electrical system and the hydraulic ***,an improved T-equivalent block model is proposed to address the uneven distribution of axial oil temperature inside the motor,and the control node method is applied to hydraulic system thermal ***,a dynamic coupling thermal model is developed that enables a dynamic evaluation of the wet EHA ***,experimental prototypes of wet motor and wet EHA are developed,while the temperature response of the wet motor at different rotation speeds and different loads and the temperature response of the wet EHA at no-load condition were verified experimentally at room temperature,*** maximum temperature difference between the experimental and theoretical results of the wet motor as well as the experimental and theoretical results of the wet EHA is less than 8℃.These test results indicate that the dynamic coupling thermal model is valid and demonstrate that the thermal coupling modeling method proposed in this paper can provide a basis for the detailed thermal design of EHA.

关键词： Electro-hydrostatic actuator Hydraulic More electric aircraft Thermal mode Wet motor