[1]陈嘉鸿,张科平,王志胜.基于 Super-Twisting 滑模观测器的主动侧杆杆力控制研究[J].机械与电子,2025,(06):48-54.
　CHEN Jiahon,ZHANG Keping,WANG Zhisheng.Research on Stick Force Control of Active Side Stick Based on Super-Twisting Sliding Mode Observer[J].Machinery & Electronics,2025,(06):48-54.
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基于 Super-Twisting 滑模观测器的主动侧杆杆力控制研究()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年06期
页码:
48-54
栏目:
自动控制与检测
出版日期:
2025-06-27

文章信息/Info

Title:
Research on Stick Force Control of Active Side Stick Based on Super-Twisting Sliding Mode Observer
文章编号:
1001-2257 ( 2025 ) 06-0048-07
作者:
陈嘉鸿 1 ; 张科平 2 ; 王志胜 1
1. 南京航空航天大学,江苏 南京 211106 ;
2. 国网江苏省电力有限公司南京市溧水区供电分公司,江苏 南京 211200
Author(s):
CHEN Jiahon1 ;  ZHANG Keping2 ;  WANG Zhisheng1
( 1.Nanjing University of Aeronautics and Astronautics , Nanjing 211106 , China ;
2.Nanjing Lishui District Power Supply Company , State Grid Jiangsu Electric Power Company , Nanjing 211200 , China )
关键词:
主动侧杆; 无差拍电流预测控制; 改进 Super-Twisting滑模观测器; 自适应动态前馈
Keywords:
active side stick ;  deadbeat predictive current control ;  improved Super-Twisting sliding mode observer ;  adaptive dynamic feedforward
分类号:
TP273 ;V227
文献标志码:
A
摘要:
针对主动侧杆使用场景下电机受环境温度、磁场耦合等影响产生的综合扰动问题,设计了一种基于改进 Super-Twisting 滑模观测器无差拍电流预测控制方法,并对开关函数进行修改,加快扰动跟踪响应速度,抑制了因滑模面存在的不连续性而产生的高频抖振。此外,添加了自适应动态前馈参数调节,使主动侧杆系统在更大的电机参数摄动范围下能够稳定响应且保持良好的性能。同时,设计了一种前馈控制作为杆力控制器,改善杆力控制精度与跟踪性能。通过仿真实验可知,在电机模型参数产生较大摄动时,系统仍能稳定运行且有更小的电流波动,在杆力快速性与精度上有着更优秀的表现,证明了该算法的有效性。
Abstract:
In response to the comprehensive disturbance issues caused by environmental temperature , magnetic field coupling , and other factors affecting the motor in the active sidestick application scenario , a deadbeat predictive current control method based on the improved Super-Twisting sliding mode observer is designed.The switching function is modified to accelerate the disturbance tracking response speed and suppress the high frequency chattering caused by the discontinuity of the sliding mode surface.Additionally , an adaptive dynamic feedforward parameter adjustment is introduced , enabling the active sidestick system to maintain stable response and good performance over a wider range of motor parameter perturbations.A feedforward control is also designed as the sidestick force controller to improve the control accuracy and tracking performance of the side stick force.Simulation experiments demonstrate that when significant parameter perturbations occurred in the motor model , the system remains stable with smaller current fluctuations and shows superior performance in terms of sidestick force speed and accuracy , thereby validating the effectiveness of the proposed algorithm.

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相似文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2024-11-08
作者简介:陈嘉鸿 ( 2000- ),男,福建泉州人,硕士研究生,研究方向为飞机主动侧杆;张科平 ( 1997- ),男,江苏南京人,电气工程师,研究方向为自控系统;王志胜 ( 1970- ),男,湖北荆门人,博士研究生导师,研究方向为智能机器人技术、智能感知与信息融合等。
更新日期/Last Update: 2025-07-03