[1]邰秀新,王志胜,李雨佳,等.基于扰动观测器的阻抗鲁棒飞机主动侧杆杆力控制[J].机械与电子,2026,44(05):102-110.
　TAI Xiuxin,WANG Zhishen,Li Yujia,et al.Impedance-robust Force Control for Aircraft Based on Perturbation Observers[J].Machinery & Electronics,2026,44(05):102-110.
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基于扰动观测器的阻抗鲁棒飞机主动侧杆杆力控制()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年05期
页码:
102-110
栏目:
飞行控制与导航
出版日期:
2026-05-27

文章信息/Info

Title:
Impedance-robust Force Control for Aircraft Based on Perturbation Observers
文章编号:
1001-2257 ( 2026 ) 05-0102-09
作者:
邰秀新 1 ; 王志胜 1 ; 李雨佳 2 ; 杨续铭 1
1. 南京航空航天大学自动化学院,江苏 南京 211106 ;
2. 中国商飞北京民用飞机技术研究中心,北京 102211
Author(s):
TAI Xiuxin1 ;  WANG Zhishen1 ;  Li Yujia2 ;  YANG Xuming1
( 1.College of Automation Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing 210016 , China ;
2.COMAC Beijing Aircraft Technology Research Institute , Beijing 102211 , China)
关键词:
主动侧杆; 阻抗控制; 鲁棒控制; 人感系统
Keywords:
active sidestick ;  impedance control ;  robust control ;  human presence detection system
分类号:
TP273 ;V227.1
文献标志码:
A
摘要:
针对主动侧杆受飞行员主动操纵的强扰动和系统固有结构的非线性因素干扰下的精确力控制问题,设计了一种基于扰动观测器的阻抗鲁棒主动侧杆力控制器。首先建立了主动侧杆力控制伺服系统模型,然后为了在有扰动情况下实现力跟踪的快速性和精确性,提出了基于观测器的阻抗鲁棒控制器,并证明了系统的稳定性。提出的鲁棒控制器补偿了系统中非线性因素引起的扰动力,进一步减小了杆力控制误差。仿真结果表明,所设计的控制器能精确地实现主动侧杆的力控制,与位置阻抗力控制器相比,调节时间减小了约 56% ,稳态误差减小了约 90% ,最大峰值误差减小了约 76% ,验证了该方法在提升主动侧杆力控制精度和动态响应方面的有效性。
Abstract:
Addressing the challenge of precise force control under strong disturbances from pilot inputs and the influence of inherent system nonlinearities , an impedance robust force controller based on a perturbation observer has been.First , a servo system model for active sidestick force control was established. Subsequently , to achieve rapid and precise force tracking under disturbance conditions , an impedance ro- bust controller based on an observer was proposed , This robust controller compensates for disturbance forces caused by system nonlinearities , further reducing stick force control errors.Simulation results demonstrate that the designed controller achieves precise force control of the active sidebar.The proposed controller effectively compensates for the disturbance forces induced by nonlinear factors , thereby minimizing stick force control errors.Simulation results indicate that the designed controller achieves high precision force control.Compared with the position impedance force controller , the regulation time is reduced by approximately 56% , the steady state error is reduced by 90% , and the maximum peak error is reduced by approximately 76%.the effectiveness of the proposed method in enhancing the accuracy and dynamic response of active sidebar force control.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2025-11-11
作者简介:邰秀新 ( 2001- ),男,安徽马鞍山人,硕士研究生,研究方向为伺服系统控制;王志胜 ( 1970- ),男,湖北荆门人,博士,教授,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,通信作者, E-mail : wangzhisheng@nuaa.edu.cn ;李雨佳 ( 2000- ),女,山东临沂人,工程师,研究方向为飞机伺服控制;杨续铭 ( 2001- ),男,河南新乡人,硕士研究生,研究方向为伺服系统控制。
更新日期/Last Update: 2026-08-25