A study on variable gain sliding mode fixed-time strategy for aircraft electromechanical actuators

面向飞机机电作动器的变增益滑模固定时间控制策略研究

¹ China Airport Construction Group, Northwest Design and Research Institution Co., Ltd., Xi′an 710065, China
² School of Air Traffic Management, Civil Aviation University of China, Tianjin 300300, China
³ School of Information and Control Engineering, Xi′an University of Architecture and Technology, Xi′an 710055, China

Received: 8 December 2024

Abstract

To improve the convergence speed of angular velocity tracking error, and reduce the input energy consumption of aircraft comprehensive control, a variable gain sliding mode fixed-time control method is proposed. Firstly, a nonlinear dynamic model driven by a permanent magnet synchronous motor as the core of the aircraft actuator was established, and a constant gain sliding mode fixed-time control algorithm was developed based on the motor control system; Next, to improve the shortcomings of fixed gain, an adaptive law adjustment controller with fixed-time convergence characteristics was designed to adjust the gain. A variable gain sliding mode fixed-time control algorithm was constructed, and the fixed time convergence of the closed-loop system was theoretically proved. Matlab numerical simulation has verified the strong robustness of the controller, as well as the advantage that the upper bound of trajectory tracking error convergence time is not affected by the initial value of the system states.

摘要

为提高飞机机电作动器的角速度跟踪误差收敛速度，降低飞机综合控制输入能耗，提出了一种变增益滑模固定时间控制方法。建立了以永磁同步电机作为飞机作动器核心驱动的动力学模型，并根据电机控制系统建立了基于常值增益滑模固定时间控制算法；为改善固定增益的不足，设计了一种具有固定时间收敛特性的自适应律调整控制器的增益，构建了变增益滑模固定时间控制算法，理论上证明了闭环系统的固定时间收敛性。Matlab数值仿真验证了所设计控制器对不确定性因素的强鲁棒性以及轨迹跟踪误差收敛时间上界不受系统状态初值影响的优势。