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A linear ADRC-based robust high-dynamic double-loop servo system for aircraft electro-mechanical actuators

Chinese Journal of Aeronautics 2019年第9期32卷 2174-2187页

作者： Chunqiang LIU Guangzhao LUO Zhe CHEN Wencong TU Cai QIU School of Automation Shaanxi Key Laboratory of Small & Special Electrical Machine and Drive TechnologyNorthwestern Polytechnical University

Compared with traditional hydraulic actuators, an Electro-Mechanical Actuator(EMA)is small in size and light in weight, so it has become more widely used. Aerodynamic load on aircraft control surface varies dramatically, and a change of flight environment leads to uncertainties of motor parameters. Therefore, high-dynamic response and strong anti-disturbance capability of an EMA are of great significance for aircraft rudder control and flight attitude adjustment. In order to improve dynamic response and disturbance rejection of an EMA and simplify control parameters tuning, a robust high-dynamic servo system based on Linear Active Disturbance Rejection Control(LADRC) is proposed for an EMA employing a Permanent Magnet Synchronous Motor(PMSM).Firstly, total disturbances of the EMA are analyzed, including parameter uncertainties, load variation, and static friction. A disturbance observer based on a reduced-order Extended State Observer(ESO) is designed to improve the anti-interference ability and dynamic performance. Secondly, the servo control architecture is simplified to a double-loop system, and a composite control of position and speed with acceleration feed-forward is presented to improve the EMA frequency bandwidth.Thirdly, the ideal model of the EMA is transformed into a simple cascade integral form with a disturbance observer, which makes it convenient to analyze and design the controller. Robustness performance comparisons are realized in frequency domain. Finally, simulation and experimental results have verified the effectiveness of the proposed strategy for EMAs.

关键词： Active Disturbance Rejection Control(ADRC) Disturbance observer Electromechanical actuators servo control

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A new method for deburring of servo valve core edge based on ultraprecision cutting with the designed monocrystalline diamond tool

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Science China(Technological Sciences) 2019年第10期62卷 1805-1815页

作者： AN QingLong DANG JiaQiang LIU GongYu Dong DaPeng MING WeiWei CHEN Ming State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University

Deburring of high-precision components to their micrometer features without any damage is very important but of great difficulty as the burr-to-functionality size ratio increases. To this end, this paper proposes a new deburring method in which the micro burr should be directly removed based on ultraprecision cutting with the designed monocrystalline diamond tool. To determine the feasibility of the proposed method, this paper applies it for deburring of the precision working edge of the servo valve core. Firstly, the monocrystalline diamond tool is carefully designed by covering a variety of topics like rake angle,clearance angle, edge radius. Then, the finite element(FE) simulation was conducted to characterize the deburring performance during the removal of the micro burr produced by the single abrasive grinding. Finally, an innovative self-designed deburring system was introduced and the deburring process was evaluated in terms of cutting forces, temperatures, tool wear mechanisms and deburring quality of the working edges by experiments. The FE simulation results indicate the suitability of the proposed deburring method. Meanwhile, the experimental findings agree well with simulation results and show that ultraprecision cutting with the specialized monocrystalline diamond tool could be successfully used for deburring of servo valve core edge without any damage. This work can provide technical guidance for similar engineering applications, and thus brings an increase to the machining efficiency for the manufacture of precision components.

关键词： monocrystalline diamond tool FE simulation deburring method servo valve core edge ultraprecision cutting

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Microstructure of fast tool servo machining on copper alloy

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中国有色金属学会会刊：英文版 2012年第S3期22卷 820-824页

作者： Hong LU Soo-chang CHOI Sang-min LEE Deug-woo LEE Department of Nano Fusion Technology Pusan National University Korea Institute of Machinery & Materials Department of Nano Mechatronics Engineering Pusan National University

The development of the fast tool servo (FTS) for precision machining was investigated.The micron machining performance of a piezoelectric-assisted FTS on copper alloy was evaluated.The results indicate that the quality of the microstructure depends mainly on two important factors:the cutting speed (or spindle speed) and the driving frequency of the FTS.The excessive driving frequency increases the formation of burrs.The effect of the clearance angle of the diamond tool on the microstructure machining precision was also investigated.

关键词： fast tool servo microstructure piezoelectric diamond machining copper alloy

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Application of Ultrasonic Motor to Control of Moment Gyroscope Gimbal servo System

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Transactions of Nanjing University of Aeronautics and Astronautics 2017年第1期34卷 15-21页

作者： Wu Jintao Pan Song Zhao Lei Wu Dengyun Zhang Jiyang Beijing Institute of Control Engineering Beijing 100190P.R.China Precision Driving Laboratory Nanjing University of Aeronautics and AstronauticsNanjing 210016P.R.China

Attitude control system is one of the most important subsystems in a spacecraft.As a key actuator,the control moment gyroscope(CMG)mainly determines the performance of attitude control system.Whereas,the control accuracy and output torque smoothness of the CMG depends more on its gimbal servo system.Considering the constraints of size,mass and power consumption for a small satellite,here,a mini-CMG is designed,in which the gimbal servo system is driven by an ultrasonic motor.The good performances of the CMG are obtained by both the ultrasonic motor and the rotary inductosyn.The direct drive of gimbal improves its dynamic performance,with the output bandwidth above 20 Hz.The angular and speed closed-loop control obtains the 0.02°/s gimbal rate,and the output torque resolution better than 2×10^(-3) N·m.The ultrasonic motor provides 1.0N·m self-lock torque during power-off,with 12arc-second position accuracy.

关键词： control moment gyroscope gimbal servo system ultrasonic motor

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Mathematical Model of Steady State Operation in Jet Pipe Electro-Hydraulic servo Valve

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Journal of Donghua University(English Edition) 2013年第4期30卷 269-275页

作者：范春红山陈天福 School of Mechanical Engineering Tongji University School of Mechanical Engineering Ho Chi Minh City University of Technology

Jet pipe electro-hydraulic servo valve is the heart of feedback control systems,and it is one of the mechatronic components used for precision flow control application.It consists of several precision and delicate components.The performance of the jet pipe servo valve depends on many parameters.During the developmental stage,it is very difficult to ascertain the function parameters.The steady-state analysis of jet pipe electro-hydraulic servo valve has been made to simulate its fluid characteristics(flowin,flow-out,leakage flow,recovery or load pressure,etc.)by mathematical modeling.Theoretical model was conducted on various affecting parameters on the pressure,the main flow rate of fluid,or leakage flow through the receiver holes.The major parameters studied are jet pipe nozzle diameters,receiver hole diameters,angle between the two centre-lines of receiver hole,nozzle offset,and nozzle stand-of distance.In this paper the research is important to determine and optimize the structural parameters of jet pipe servo valve.Thus,equations of the pressure and flow characteristics are set up and the optimal structural parameters of jet pipe are established.

关键词： jet pipe servo valve pressure characteristics fluid characteristics mathematical model

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Research on valve core’s clamping stagnation of double flapper-nozzle servo valve

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High Technology Letters 2019年第1期25卷 65-73页

作者：赵建华 Zhang Bin Chen Tao Wang Qiang Zhou Songlin Gao Dianrong Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University

Due to great changing of instantaneous temperature of hydraulic oil of double flapper-nozzle servo valve, thermal deformation between valve core and valve sleeve may result in catching phenomenon of valve core, and then the reliability of servo valve could be affected seriously. The work focuses on a particular model of double flapper-nozzle servo valve and establishes three dimension couple models of liquid-solid-thermal under extreme operating condition. The transmission route and dissipative mechanism of heat is revealed and thermal deformation behavior of valve core and valve sleeve is researched. A change law of the key fit clearance under the effect of thermal expansion and warp deformation is explored, the source of catching phenomenon of valve core is identified, and then preventive measure and improvement can be proposed. In order to verify the correctness of theoretical analysis, the moving smoothness of deformed valve core and reground valve core under the circumstance of high-temperature hydraulic oil on electrohydraulic servo valve static characteristics test table is compared and tested. The results show that as oil temperature rises, relative deformations between valve core and valve sleeve in different direction at a same cross-section are not equal, and then the key fit clearance is less than the initial value. Relative deformations in the same direction at different axial position are not equal, the deformations of middle and two ends are maximum and minimum values respectively, and then warp deformation of valve core occurs. When oil temperature is higher, the relative deformations between valve core and valve sleeve is larger, the moving smoothness of valve core gets worse, and the catching phenomenon of valve core occurs. Axial deformation of valve sleeve and valve core at different axial position is different, and the opening coefficient and stability of servo valve could be affected, especially the operation circumstance of small opening. The study can provide some guidance for designing do

关键词： double flapper-nozzle servo valve flow-solid-thermal coupling numerical simulation catching phenomenon thermal deformation mechanism smooth movement

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H_∞ two-block design of servo systems

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Journal of Harbin Institute of Technology(New Series) 2002年第2期9卷 142-144页

作者：王广雄王新生 Dept. of Control Eng. Harbin Inst. of Technol. Harbin 150001 China

The usual mixed sensitivity H ∞ design is not suitable for servo design, because there exist pole/zero cancellations and the resulting control law will include a pure differentiation factor. This paper presents an alternative design, i.e. the PS/T two block design. It is proved that in the PS/T problem there is no cancellation of the plant poles by the controller. The PS/T problem can take full advantage of the two block design approach: simplicity and intuition. And the use of PS in design is more practical for it represents the system’s disturbance rejection performance. The PS/T two block design details are discussed and illustrated by an example. The results of this paper can also be used for MIMO systems.

关键词： H∞ design pole/zero cancellation PS/T problem servo system

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Hybrid Adaptive Compensation Control Scheme for High-Precision servo System

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Transactions of Tianjin University 2013年第3期19卷 217-224页

作者：扈宏杰王元哲孙国伟 School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beihang University

In this paper,a hybrid adaptive compensation control scheme is proposed to compensate the friction occurrence and other nonlinear disturbance factors that exist in the high-precision servo system.An adaptive compensation controller with a dual-observer structure is designed,while the LuGre dynamic friction model with non-uniform parametric uncertainties characterizes the friction torque.Considering the influence of the periodic disturbance torque and parametric uncertainties,fuzzy systems and a robust term are employed.In this way,the whole system can be treated as a simple linear model after being compensated,then the proportional-derivative (PD) control law is applied to enhancing the control performance.On the basis of Lyapunov stability theory,the global stability and the asymptotic convergence of the tracking error are proved.Numerical simulations demonstrate that the proposed scheme has potentials to restrain the impact of disturbance and improving the tracking performance.

关键词： servo system LuGre model friction observer fuzzy system adaptive control Lyapunov stability

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INVESTIGATION ON FAULT DETECTION & DIAGNOSIS FOR POSITION servo SYSTEM OF AIRCRAFT ACTUATOR

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Chinese Journal of Aeronautics 1997年第1期10卷 68-74页

作者： Zhang Jianhua Li Yunhua Wang Zhanlin Qiu Lihua(Faculty 303, Beijing University of Aeronautics and Astronautics, Beijing, China, 100083) Faculty 303 Beijing Univ. Aero. and Astronaut. Beijing 100083 China

A new approach to fault dignosis dealing with nonlinear system Hopfieldneural networks (HNN) is presented. The model parameters of the nonlinear systemtreated as functions of measured operating points and faults are estimated by HNN. Boththe nominal model of the healthy system and HNN training models corresponding to everyoperating point are recognized. In addition, the anticipated fault models corresponding toevery kind of fault and every operating point are obtaind in advance. The real systemmodel parameters of the system estimated by generalization process of HNN are matchedwith the nominal models of the healthy system and anticipated fault models. Consequent-ly, the final result of fault detection and diagnosis is acquired. The approach to fault diag-nosis is used in an aircraft actuating poisition servo system and the simulation resu1t is re-ported.

关键词： faults detection diagnosis nonlinear systems Hopfield neural networks(HNN) aircraft’s actuating position servo systems

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Study of Dynamic Robustness of servo Control System on a Water Press

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武汉理工大学学报 2006年第S1期28卷 126-131页

作者： KONG Xiangdong1,YAO Jing1,GAO Yingjie1,ZHANG Qin2 (1.Yanshan University,Qinhuangdao 066004,China 2.University Illinois of Urbana-Champaign,Urbana,IL,USA) Yanshan University Qinhuangdao 066004China University Illinois of Urbana-Champaign UrbanaILUSA

The reliability and robustness of the electro-hydraulic servo control system for heavy-duty forging machine play an important role in forging processes. A mathematic model of 50 MN water press for free forging was created in this research. The dynamic robust compensator integrating with PID control method is designed and applied to the mathematical model simulation. The simulated results approved that the dynamic robust compensator application restrains interference from extra load and improves the electro-hydraulic position servo control system accuracy and stability.

关键词： electro-hydraulic servo control system water press free forging robust compensator

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