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Research Papers

Surplus Torque Elimination Control of Electro-Hydraulic Load Simulator Based on Actuator Velocity Input Feedforword Compensating Method

[+] Author and Article Information
Zhihui Li

Science and Technology
on Aircraft Control Laboratory,
School of Automation Science
and Electrical Engineering,
Beihang University,
Beijing 100191, China
e-mail: lizhihui2013@buaa.edu.cn

Yaoxing Shang

Science and Technology
on Aircraft Control Laboratory,
School of Automation Science
and Electrical Engineering,
Beihang University,
Beijing 100191, China
e-mail: syx@buaa.edu.cn

Zongxia Jiao

Science and Technology
on Aircraft Control Laboratory,
School of Automation Science
and Electrical Engineering,
Beihang University,
Beijing 100191, China
e-mail: zxjiao@buaa.edu.cn

Shuai Wu

Science and Technology
on Aircraft Control Laboratory,
School of Automation Science
and Electrical Engineering,
Beihang University,
Beijing 100191, China
e-mail: ws@buaa.edu.cn

Jianyong Yao

School of Mechanical Engineering,
Nanjing University of Science and Technology,
Nanjing 210094,
Jiangsu Province, China
e-mail: jerryyao.buaa@gmail.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received April 1, 2016; final manuscript received February 22, 2018; published online May 2, 2018. Editor: Joseph Beaman.

J. Dyn. Sys., Meas., Control 140(10), 101001 (May 02, 2018) (8 pages) Paper No: DS-16-1167; doi: 10.1115/1.4039663 History: Received April 01, 2016; Revised February 22, 2018

Electro-hydraulic load simulator (EHLS) is a typical closed-loop torque control system. It is used to simulate the load of aircraft actuator on ground hardware-in-the-loop simulation and experiments. In general, EHLS is fixed with actuator shaft together. Thus, the movement of actuator has interference torque named the surplus torque on the EHLS. The surplus torque is not only related to the velocity of the actuator movement, but also related to the frequency of actuator movement. Especially when the model of the actuator and EHLS is dissimilar, the surplus torque is obviously different on different frequencies. In order to eliminate the surplus torque for accurate load simulation, the actuator velocity input feedforword compensating method (AVIFC) is proposed in this paper. In this strategy, the actuator velocity synchronous signals are used for compensation of different frequency actuator movement to eliminate surplus torque on different frequencies. First, the mathematical model of EHLS and the actuator system is established. Based on the models, the AVIFC method is proposed. It reveals the reason that generates surplus torque on different frequencies of actuator. For verification, simulations and experiments are conducted to prove that the new strategy performs well against low, medium, and high frequency movement interference. The results show that this method can effectively suppress the surplus torque with different frequencies and improve precision of EHLS with actuator movement.

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Figures

Grahic Jump Location
Fig. 1

The structure diagram of the EHLS and the actuator control system

Grahic Jump Location
Fig. 2

The transformed structure diagram of the EHLS and the actuator control system

Grahic Jump Location
Fig. 3

The control block diagram of the EHLS and the actuator control system

Grahic Jump Location
Fig. 4

The block diagram of the compensation block diagram of the AVIFC

Grahic Jump Location
Fig. 5

The bode diagram of the AVIFC

Grahic Jump Location
Fig. 6

The surplus torque of the actuator works with of 5 deg—1 Hz

Grahic Jump Location
Fig. 7

The surplus torque of the actuator works with of 5 deg—10 Hz

Grahic Jump Location
Fig. 8

The surplus torque of the actuator works with of 5 deg—20 Hz

Grahic Jump Location
Fig. 9

The surplus torque of the actuator works with of 1 deg—1 Hz

Grahic Jump Location
Fig. 10

The surplus torque of the actuator works with of 1 deg—10 Hz

Grahic Jump Location
Fig. 11

The surplus torque of the actuator works with of 1 deg—20 Hz

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