Valve flow rate identification and robust force control for a pneumatic actuator used in a flight simulator
Valve flow rate identification and robust force control for a pneumatic actuator used in a flight simulator
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飞行模拟器中使用的气动执行器的阀门流量识别和稳健的力控制
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
O. Sawodny
中科院分区：
文献类型：
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作者：
P. Rapp;Martin Weickgenannt;C. Tarín;O. Sawodny
目前的贡献处理的发展，用于飞行模拟器的气动执行器的鲁棒力控制器。建立控制设计技术，处理参数的不确定性，并产生一个控制律，该控制律是调整的快速控制原型系统和低成本的嵌入式系统上实现。控制器的性能进行评估，为这两个系统使用的测试台。特别强调的实验结果的前馈控制与离线轨迹生成相结合的效果。在此基础上，提出了一种新的概念，阀的电导识别。新方法减少了计算费用和模拟传感器中的噪声的影响，并优于直接评估的压力动力学方程。
The present contribution deals with the development of a robust force controller for a pneumatic actuator that is employed in a flight simulator. Established control design techniques that deal with parametric uncertainties are applied and yield a control law which is tuned on a Rapid Control Prototyping system and implemented on a low-cost embedded system. The controller performance is evaluated for both systems using a test rig. Special emphasis regarding the experimental results is put on the effect of feedforward control in combination with offline trajectory generation. On top of that, a new concept for valve conductance identification is presented in this contribution. The novel approach reduces both computational expense and the effect of noise in analog sensors and outperforms the direct evaluation of the pressure dynamics equation.