[1]李智琦,孙 涛,朱笑笑,等.面向航电操纵杆的检测装置设计及柔性控制算法[J].机械与电子,2023,41(11):28-36.
　LI Zhiqi,SUN Tao,ZHU Xiaoxiao,et al.Design of Detection Device and Compliant Control Algorithm for Avionics Center Stick[J].Machinery & Electronics,2023,41(11):28-36.
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面向航电操纵杆的检测装置设计及柔性控制算法()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年11期
页码:
28-36
栏目:
自动控制与检测
出版日期:
2023-11-23

文章信息/Info

Title:
Design of Detection Device and Compliant Control Algorithm for Avionics Center Stick
文章编号:
1001-2257 ( 2023 ) 11-0028-09
作者:
李智琦; 孙 涛; 朱笑笑; 曹其新
上海交通大学机械与动力工程学院,上海 200240
Author(s):
LI Zhiqi ;  SUN Tao ;  ZHU Xiaoxiao ;  CAO Qixin
( School of Mechanical Engineering , Shanghai Jiao Tong University , Shanghai 200240 , China )
关键词:
执行器设计; 转矩观测器; 摩擦补偿; 电机转矩模型; 航电系统
Keywords:
actuator design ;  torque observer ;  friction compensation ;  motor torque model ;  avionics system
分类号:
TP242.2 ; V243
文献标志码:
A
摘要:
在自动化航电联调联试检测系统中,为解决航电系统操纵杆在自动化检测中存在环境复杂、开关密集紧凑和待检测方位较多等问题,设计了基于电动气动联合方案的操纵杆检测装置,并提出了基于转矩观测器的柔性控制方法,以检测航电系统中操纵杆上的多方位开关。操纵杆检测装置的设计通过电机与气缸的有效组合,可以在紧凑的环境中完成操纵杆上四方位拨杆、八方位按钮等开关全部功能的检测。此外,针对操纵杆检测装置建立机器人关节动力学模型,引入永磁同步电机模型、动态 LuGre 摩擦模型和关节刚度模型,基于广义动量观测关节力矩并实现柔性控制。通过在模拟平台和实际联调环境下进行参数辨识和开关操作实验,证明了该操纵杆检测装置及控制算法能够有效检测操纵杆,并提高了开关检测的安全性和效率。
Abstract:
In the automated testing system for aviation electronic control system calibration and testing , a center stick detection device based on an electric-pneumatic hybrid scheme was designed to solve the problems of complex environment , compact and dense switches , and multiple orientations of the center stick in automated detection.A compliant control method based on torque observer was proposed to detect the multi-directional switches on the center stick in the aviation electronic control system.The design of the center stick detection device , through the effective combination of the motor and the cylinder , can achieve the detection of all functions of the four-way lever and eight-way button switches on? the center stick in a compact environment.In addition , the permanent magnet synchronous motor model , dynamic LuGre friction model , and joint stiffness model are introduced to establish a robotic joint dynamic model for the center stick detection device.Based on the generalized momentum , the observed joint torque is utilized to achieve compliant control.Through parameter identification and switch operation experiments conducted in simulation platforms and actual calibration environments , it was demonstrated that the proposed center stick detection device and control algorithm can effectively detect the center stick and improve the safety and efficiency of switch detection.

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备注/Memo

备注/Memo:
收稿日期: 2023-03-27
作者简介:李智琦 ( 1998- ),男,辽宁锦州人,硕士研究生,研究方向为机器人技术;孙 涛 ( 1975- ),男,河南邓州人,博士研究生,工程师,研究方向为特种加工技术;朱笑笑 ( 1975- ),男,江苏启东人,博士,研究方向为机器人及自动化技术、三维环境建立、SLAM ;曹其新 ( 1960- ),男,博士,教授,博士研究生导师,研究方向为机器人学与医工交叉领域。
更新日期/Last Update: 2023-12-13