飞机舵机电动加载系统多余力矩抑制方法

针对飞机舵机电动加载系统存在多余力矩干扰的问题,提出了以改进型基于信度分配的小脑模型关节控制器为前馈控制,以增量式比例积分微分(proportion integral derivative,PID)为反馈控制的复合控制策略。在前馈控制器中,结合变刚度金属-橡胶缓冲弹簧、力矩测速反馈及梯度加载法,采用基于Sigmoid函数变平衡学习常数的权值调整算法,设计三维参考输入型神经网络结构。在反馈控制器中,采用增量式PID控制解决积分项溢出问题,同时为神经网络提供训练学习样本,最后通过理论分析证明改进算法的收敛特性及闭环系统的稳定性。仿真结果表明,该方法提高了系统的加载精度及在线实时控制能力,在一定程度上抑制了多余力矩干扰。

Method to restrain extra torque of aircraft rudder electric loading system

In order to solve the problem caused by extra torque of aircraft rudder electric loading system, a hybrid control strategy is proposed where the improved credit assignment cerebellar model articulation controller is applied for feedforward control and the incremental proportion integral derivative (PID) is applied for feedback control. The feedforward controller of three dimensional input neural network structure is designed, which is combined with variable stiffness metal rubber buffer spring, the feedback of torque velocity and gradient loading method, in view of weight adjusting algorithm of variable balanced learning constant based on Sigmoid function. The feedback controller of incremental PID can not only solve the shortcoming of integral term overflow, but also provide training learning samples for the neural network. Finally, the convergence characteristic of the improved algorithm and the stability of the closed loop system are shown through the theoretical analysis. The simulation results show that the method can effectively improve the loading accuracy and the capability of online real time control, and to some extent suppress the extra torque.