Fuzzy Sliding Backstepping Mode Control for Flight Simulator Servo Based on Friction and Disturbance Compensation

doi:10.16182/j.issn1004731x.joss.201803053

Abstract

Abstract: Considering friction, modeling errors and other uncertainties of flight simulator servo system, a compensation strategy which combines model-based friction compensation with nonlinear disturbance observer compensation was proposed. First, the friction is modeled , whose parameters are identified by using genetic algorithm, and using the identified model to compensate. Second, using a nonlinear disturbance observer to estimate the modeling errors, friction less-compensation or over-compensation and other uncertainties, and using this observed value to compensate. The system adopted sliding backstepping controller to ensure the stabilization of the system. Finally, the fuzzy algorithm is adopted to adjust the switching gain of sliding mode to reduce the chattering of the system. The simulation results show the method can reduce the influence of friction and modeling errors and other uncertainties, weakened the chattering caused by sliding mode, improved the control precision and anti-interference of the system.

Key words: flight simulator, friction compensation, nonlinear disturbance observer, genetic algorithm, fuzzy algorithm, sliding backstepping mode control

CLC Number:

TP273

Liu Huibo, Liu Shanglei. Fuzzy Sliding Backstepping Mode Control for Flight Simulator Servo Based on Friction and Disturbance Compensation[J]. Journal of System Simulation, 2018, 30(3): 1195-1203.

References 22

[1]	曲展龙, 糜小涛, 许宏光. 仿真转台用电液伺服系统低速性研究及实现[J]. 液压与气动, 2013 (9): 51-53.QU Zhan-long, MI Xiao-tao, XU Hong-guang. Research and Realization of Low-speed Performance of Electro-hydraulic Servo System for Simulator[J]. Chinese Hydraulics and Pneumatics, 2013 (9): 51-53.
[2]	刘强, 冯姝婷, 尔联洁. 高精度机械伺服系统的一种新型自适应滑模控制方法[J]. 控制理论与应用, 2004, 21(2): 239-241. LIU Qiang, FENG Shu-ting, ER Lian-jie. Novel adaptive sliding mode control scheme of high precision mechanical servo system[J]. Control Theory and Applications, 2004, 21(2): 239-241.
[3]	刘柏延, 吴云洁, 黄延福. 基于模糊干扰观测器的自适应反演滑模控制[J]. 系统仿真学报, 2011, 23(8): 1677-1680. LIU Bo-yan, WU Yun-jie, HUANG Yan-fu. Research of Adaptive Backstepping Sliding Mode Controller Based on Fuzzy Disturbance Observer[J]. Journal of System Simulation, 2011, 23(8): 1677-1680.
[4]	刘金琨. 先进PID控制MATLAB仿真[M]. 3版. 北京: 电子工业出版社, 2011: 359-362. LIU Jin-kun.Advanced PID control and MATLAB simulation [M]. Beijing: Publishing House of Electronics Industry, 2011: 359-362.
[5]	Yao Z, Wang W, Zheng L.A hybrid adaptive control for flight simulator turn table[C]//2010 International Conference on Mechatronics and Automation (ICMA). USA: IEEE, 2010: 773-777.
[6]	王卫红, 姚志超, 郑连强. 三轴飞行仿真转台自适应复合控制方法[J]. 电机与控制学报, 2011, 15(9): 74-79. WANG Wei-hong, YAO Zhi-chao, ZHENG Lian-qiang. Adaptive compound control method for the three-axis flight simulator[J]. Electric Machines and Control, 2011, 15(9): 74-79.
[7]	Sun W, Cai H, Zhao F, et al.Repetitive control design of simulation turntable based on integral sliding mode[C]// 2012 Proceedings of International Conference on Modelling, Identification and Control (ICMIC). USA: IEEE, 2012: 849-854.
[8]	韩松杉, 焦宗夏, 汪成文,等. 电液飞行转台的分数阶积分滑模非线性控制[J]. 北京航空航天大学学报, 2014, 40(10): 1411-1416. Han Song-shan, Jiao Zong-xia, Wang Cheng-wen, et al. Fractional integral sliding mode nonlinear controller of electrical-hydraulic flight simulator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(10): 1411-1416.
[9]	Dong X, Wu Y, Xiao S, et al.Global sliding mode control based on disturbance observer for motor servo system and application to flight simulator[C]. 2014 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC), USA: IEEE, 2014: 370-375.
[10]	赵建卫, 亓迎川, 李光明. 基于模糊规则切换的转台伺服系统研究[J]. 空军雷达学院学报, 2011, 25(6): 444-447.ZHAO Jian-wei, QI Ying-chuan, LI Guang-ming. Researchon Turntable Servo System Based on Fuzzy Switching[J]. Journal of Air Force Radar Academy, 2011, 25(6): 444-447.
[11]	Zhao Y, Jiao Z, Wu S.Wiener recurrent neural network adaptive inverse controller of hydraulic flight motion simulator[C]. 2015 International Conference on Fluid Power and Mechatronics (FPM), USA: IEEE, 2015: 523-528.
[12]	韩松杉, 焦宗夏, 汪成文, 等. 基于神经网络的电液转台非线性积分滑模控制[J]. 北京航空航天大学学报, 2014, 40(3): 321-326.Han Song-shan, Jiao Zong-xia, Wang Cheng-wen, et al. Integral sliding mode nonlinear controller of electrical-hydraulic flight simulator based on neural network[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(3): 321-326.
[13]	徐春梅, 尔联洁. 飞行仿真转台模糊神经网络补偿的复合控制[J]. 系统仿真学报, 2008, 20(1): 139-142.XU Chun-mei, ER Lian-jie. Complex Tracking Control Based on Fuzzy-neural Compensator for Flight Simulator [J]. Journal of system simulation, 2008, 20(1): 139-142.
[14]	郭健, 季晶晶, 杨帆, 等. 基于LuGre摩擦模型的伺服系统自适应鲁棒控制器[J]. 南京理工大学学报, 2013(6): 799.Guo Jian, Ji Jing-jing, Yang Fan, et al. Adaptive robust controller for servo system based on LuGre model of friction[J]. Journal of Nanjing University of Science and Technology, 2013(6): 799.
[15]	王喜明, 刘红, 高伟. 基于LuGre模型的摩擦力补偿的研究[J]. 科学技术与工程, 2007, 5(7): 731-733. WANG Xi-ming, LIU Hong, GAO Wei. Study of Friction Compensation Based on LuGre Model[J]. Science Technology and Engineering, 2007, 5(7): 731-733.
[16]	路瑶, 何秋生, 苑伟华.考虑摩擦伺服系统的补偿算法研究[J]. 微特电机, 2015, 43(7): 71-74. LU Yao, HE Qiu-sheng, YUAN Wei-hua. Research on Compensation Algorithm for Servo System with Friction[J]. Small and Special Electrical Machines, 2015, 43(7): 71-74.
[17]	Xia D, Wang L, Chai T.Neural-Network-Friction Compensation-Based Energy Swing-Up Control of Pendubot[J]. IEEE Transactions on Industrial Electronics (S0278-0046), 2014, 61(3): 1411-1423.
[18]	单东升, 李超, 邱晓波, 等. 基于自抗扰控制的转台伺服系统摩擦非线性补偿仿真研究[J]. 润滑与密封, 2012, 37(8): 70-73. SHAN Dong-sheng, LI Chao, QIU Xiao-bo, et al. Simula- tion on Friction Nonlinear Compensation of Turntable Servo System Based on Active Disturbance Rejection Control[J]. Lubrication Engineering, 2012, 37(8): 70-73.
[19]	席雷平, 陈自力, 齐晓慧. 基于非线性干扰观测器的机械臂自适应反演滑模控制[J]. 信息与控制, 2013, 4(42): 470-477. XI Lei-ping, CHEN Zi-li, QI Xiao-hui. Adaptive Backstep-ping Sliding Mode Control for Robotic Manipulator with Nonlinear Disturbance Observer[J]. Information and Control, 2013, 4(42): 470-477.
[20]	刘金琨. 滑模变结构控制MATLAB仿真 [M]. 2版. 北京: 清华大学出版社, 2012: 9-27. LIU Jin-kun. MATLAB simulation of sliding mode varia-ble structure control[M]. Beijing: Tsinghua University Press, 2012: 9-27.
[21]	刘金琨, 尔联洁. 飞行模拟转台高精度数字重复控制器的设计[J]. 航空学报, 2004, 25(1): 59-61. LIU Jin-kun, ER Lian-jie. Design of High Precision Digital Repetitive Controller forFlight Simulator Servosystem [J]. Acta Aeronautica et Astronautica Sinica, 2004, 25(1): 59-61.
[22]	董立红. 基于遗传算法的直流伺服系统参数辨识及摩擦补偿控制[J]. 计算机工程与科学, 2011, 12(33): 174-178.DONG Li-hong.Parameter Identification of the DC Servo Systems and Friction Compensation Control Based on Genetic Algorithms[J]. Computer Engineering and Science, 2011, 12(33): 174-178.