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| 1 | Adaptive Nonlinear Optimal Compensation Control for Electro-hydraulic Load Simulator显示文摘Directing to the strong position coupling problem of electro-hydraulic load simulator(EHLS),this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear parameters,viz.the flow gain coefficient of servo valve and total factors of flow-pressure coefficient.Taking trace error of torque control system to zero as control object,this article designs the adaptive nonlinear optimal compensation control strategy,which regards torque control output of closed-loop controller converging to zero as the control target,to optimize torque tracking performance.Electro-hydraulic load simulator is a typical case of the torque system which is strongly coupled with a hydraulic positioning system.This article firstly builds and analyzes the mathematical models of hydraulic torque and positioning system,then designs an adaptive nonlinear optimal compensation controller,proves the validity of parameters estimation,and shows the comparison data among three control structures with various typical operating conditions,including proportion-integral-derivative(PID) controller only,the velocity synchronizing controller plus PID controller and the proposed adaptive nonlinear optimal compensation controller plus PID controller.Experimental results show that systems' nonlinear parameters are estimated exactly using the proposed method,and the trace accuracy of the torque system is greatly enhanced by adaptive nonlinear optimal compensation control,and the torque servo system capability against sudden disturbance can be greatly improved. | Yao Jianyong Jiao Zongxia Shang Yaoxing Huang Cheng | 2010 | Chinese Journal of Aeronautics2010，23，6： | 29 |
| 2 | Nonlinear Adaptive Robust Force Control of Hydraulic Load Simulator显示文摘This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conventional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlinear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptotically stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parameters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncertainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved. | YAO Jianyong JIAO Zongxia YAO Bin SHANG Yaoxing DONG Wenbin | 2012 | Chinese Journal of Aeronautics2012，25，5： | 17 |
| 3 | An experimental study of the dual-loop control of electro-hydraulic load simulator (EHLS)显示文摘This paper investigates motion coupling disturbance(the so called surplus torque)in the hardware-in-the-loop(HIL)experiments.The‘‘velocity synchronization scheme’’was proposed by Jiao for an electro-hydraulic load simulator(EHLS)in 2004.In some situations,however,the scheme is limited in the implementation for certain reasons,as is the case when the actuator’s valve signal is not available or it is seriously polluted by noise.To solve these problems,a‘‘dual-loop scheme’’is developed for EHLS.The dual-loop scheme is a combination of a torque loop and a position synchronization loop.The role of the position synchronization loop is to decouple the motion disturbance caused by the actuator system.To verify the feasibility and effectiveness of the proposed scheme,extensive simulations are performed using AMESim.Then,the performance of the developed method is validated by experiments. | Wang Chengwen Jiao Zongxia Wu Shuai Shang Yaoxing | 2013 | Chinese Journal of Aeronautics2013，26，6： | 15 |
| 4 | Study on Friction Torque Loading with an Electro-hydraulic Load Simulator显示文摘针对特殊伺服机构的半实物仿真与测试,提出采用电液力矩负载模拟器施加摩擦力矩载荷。针对机械系统常用的Stribeck摩擦模型缺乏对静摩擦的数学描述这一问题,引入了带静摩擦描述的Stribeck摩擦模型。提出了'力矩-零速度'切换控制的新原理。解决了用电液力矩负载模拟器切换加载动、静摩擦力矩的问题;即采用零速度控制方式实现静摩擦的模拟;采用传统力矩控制实现动摩擦的模拟。建立了对象的数学模型,并设计了'力矩-零速度'切换控制器结构与'双阈值判断'算法。仿真表明,'力矩-零速度'切换控制,从原理上实现了静摩擦与动摩擦的真实模拟,能够复现伺服机构拖动大摩擦力负载运动的真实情况。 | Shang Yaoxing Jiao Zongxia Wang Xiaodong Zhao Sijun | 2009 | Chinese Journal of Aeronautics2009，22，6： | 14 |
| 5 | A practical nonlinear robust control approach of electro-hydraulic load simulator显示文摘This paper studies a nonlinear robust control algorithm of the electro-hydraulic load simulator(EHLS). The tracking performance of the EHLS is mainly limited by the actuator's motion disturbance, flow nonlinearity, and friction, etc. The developed controller is developed based on the nonlinear motion loading model. The problems of the actuator's disturbance and flow nonlinearity are considered. To address the friction problem, the friction model of the loading motor is identified experimentally. The friction disturbance is compensated using the obtained friction model. Therefore, this paper considers the main three factors comprehensively. The developed algorithm is easy to apply since the controller can be obtained just with one step back-stepping design. The stability of the developed algorithm is proven via Lyapunov analysis. Both co-simulation and experiments are performed to verify the effectiveness of this method. | Wang Chengwen Jiao Zongxia Wu Shuai Shang Yaoxing | 2014 | Chinese Journal of Aeronautics2014，27，3： | 10 |
| 6 | Analysis of the dynamic performance of an electro-hydrostatic actuator and improvement methods显示文摘As a kind of actuation mechanism for power-by-wire(PBW) actuation systems of more/all electrical aircraft, an electro-hydrostatic actuator(EHA) is a highly integrated local hydraulic actuation system. It is a volume control system consisting of a motor, a pump, an actuator, etc.,which has features of high efficiency and reliability. However, the poor dynamic characteristic is one of the main factors restricting its wide application in aircraft. In this paper, the reason for the poor dynamic characteristic of an EHA is revealed from the perspectives of the natural frequency characteristic and the power requirement, respectively. In other words, the insufficiency of the motor output power at a high frequency is the main factor causing the poor dynamic characteristic of the system, and methods which include increasing the maximum output torque of the motor, reducing the rotational inertia of the motor-pump group, and adopting a double-motorpump group configuration are proposed in this paper, by which the dynamic characteristic of the system can be improved. The feasibility of those methods are verified by simulations. Finally, the dynamic characteristic is tested on an EHA prototype, and results show that saturation of the output torque of the motor is the main factor restricting the dynamic characteristic of the EHA system. | Zhihui LI Yaoxing SHANG Zongxia JIAO Yan LIN Shuai WU Xiaobin LI | 2018 | Chinese Journal of Aeronautics2018，31，12： | 9 |
| 7 | High-effciency aircraft antiskid brake control algorithm via runway condition identification based on an on-off valve array显示文摘The aircraft antiskid braking system is an important hydraulic system for preventing tire bursts and ensuring safe take-off and landing. The brake system adjusts the force applied on the brake discs by controlling the brake pressure. Traditional aircraft antiskid braking systems achieve antiskid performance by controlling the braking pressure with an electrohydraulic servo valve.Because the pilot stage of an electrohydraulic servo valve is easily blocked by carbonized hydraulic oil, the servo valve would become a dangerous weak point for aircraft safety. This paper proposes a new approach that uses an on-off valve array to replace the servo valve for pressure control. Based on this new pressure control component, an efficient antiskid control algorithm that can utilize this discontinuous feature is proposed. Furthermore, the algorithm has the ability to identify the runway circumstances. To overcome the discontinuity in the process of using an on-off valve array, the Filippov framework is introduced. The conditions of convergence of the system are also discussed.The results of the digital simulations and the hardware-in-the-loop(HIL) braking experiments are used to verify the efficiency and stability of the proposed control algorithm. The method also proves that the on-off valve array can replace the servo valve perfectly as a new type of antiskid braking pressure control component. | Dong SUN Zongxia JIAO Yaoxing SHANG Shuai WU Xiaochao LIU | 2019 | Chinese Journal of Aeronautics2019，32，11： | 7 |
| 8 | Fuzzy robust nonlinear control approach for electro-hydraulic flight motion simulator显示文摘A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion simulators is proposed. Compared with other three-order models of hydraulic rotary actuators, the proposed controller based on first-order nonlinear model is more easily applied in practice, whose control law is relatively simple. It not only does not need high-order derivative of desired command,but also does not require the feedback signals of velocity, acceleration and jerk of hydraulic rotary actuators. Another advantage is that it does not rely on any information of friction, inertia force and external disturbing force/torque, which are always difficult to resolve in flight motion simulators. Due to the special composite vane seals of rectangular cross-section and goalpost shape used in hydraulic rotary actuators, the leakage model is more complicated than that of traditional linear hydraulic cylinders. Adaptive multi-input single-output(MISO) fuzzy compensators are introduced to estimate nonlinear uncertain functions about leakage and bulk modulus. Meanwhile, the decomposition of the uncertainties is used to reduce the total number of fuzzy rules. Different from other adaptive fuzzy compensators, a discontinuous projection mapping is employed to guarantee the estimation process to be bounded. Furthermore, with a sufficient number of fuzzy rules, the controller theoretically can guarantee asymptotic tracking performance in the presence of the above uncertainties, which is very important for high-accuracy tracking control of flight motion simulators.Comparative experimental results demonstrate the effectiveness of the proposed algorithm, which can guarantee transient performance and better final accurate tracking in the presence of uncertain nonlinearities and parametric uncertainties. | Han Songshan Jiao Zongxia Wang Chengwen Shang Yaoxing | 2015 | Chinese Journal of Aeronautics2015，28，1： | 7 |
| 9 | Matching design of hydraulic load simulator with aerocraft actuator显示文摘This paper intends to provide theoretical basis for matching design of hydraulic load simulator (HLS) with aerocraft actuator in hardware-in-loop test, which is expected to help actuator designers overcome the obstacles in putting forward appropriate requirements of HLS. Traditional research overemphasizes the optimization of parameters and methods for HLS controllers. It lacks deliberation because experimental results and project experiences indicate different ultimate performance of a specific HLS. When the actuator paired with this HLS is replaced, the dynamic response and tracing precision of this HLS also change, and sometimes the whole system goes so far as to lose control. Based on the influence analysis of the preceding phenomena, a theory about matching design of aerocraft actuator with HLS is presented, together with two paired new concepts of 'Standard Actuator' and 'Standard HLS'. Further research leads to seven important conclusions of matching design, which suggest that appropriate stiffness and output torque of HLS should be carefully designed and chosen for an actuator. Simulation results strongly support that the proposed principle of matching design can be anticipated to be one of the design criteria for HLS, and successfully used to explain experimental phenomena and project experiences. | Shang Yaoxing Yuan Hang Jiao Zongxia Yao Nan | 2013 | Chinese Journal of Aeronautics2013，26，2： | 5 |
| 10 | A novel integrated self-powered brake system for more electric aircraft显示文摘Traditional hydraulic brake systems require a complex system of pipelines between an aircraft engine driven pump(EDP) and brake actuators, which increases the weight of the aircraft and may even cause serious vibration and leakage problems. In order to improve the reliability and safety of more electric aircraft(MEA), this paper proposes a new integrated self-powered brake system(ISBS) for MEA. It uses a hydraulic pump geared to the main wheel to recover a small part of the kinetic energy of a landing aircraft. The recovered energy then serves as the hydraulic power supply for brake actuators. It does not require additional hydraulic source, thus removing the pipelines between an EDP and brake actuators. In addition, its self-powered characteristic makes it possible to brake as usual even in an emergency situation when the airborne power is lost. This paper introduces the working principle of the ISBS and presents a prototype. The mathematical models of a taxiing aircraft and the ISBS are established. A feedback linearization control algorithm is designed to fulfill the anti-skid control. Simulations are carried out to verify the feasibility of the ISBS, and experiments are conducted on a ground inertia brake test bench. The ISBS presents a good performance and provides a new potential solution in the field of brake systems for MEA. | Yaoxing SHANG Xiaochao LIU Zongxia JIAO Shuai WU | 2018 | Chinese Journal of Aeronautics2018，31，5： | 4 |
| 11 | Dynamic thermal coupling modeling and analysis of wet electro-hydrostatic actuator显示文摘The electro-hydrostatic actuator(EHA)used in more electric aircraft(MEA)has been extensively studied due to its advantages of high reliability and high integration.However,this high integration results in a small heat dissipation area,leading to high-temperature problems.Generally,to reduce the temperature,a wet cooling method of using the pump leakage oil to cool the motor is adopted,which can also increase the difficulty of accurately predicting the system temperature in the early design stage.To solve this problem,a dynamic coupling thermal model of a wet EHA is proposed in this paper.In particular,the leakage oil of the pump is used as a coupling item between the electrical system and the hydraulic system.Then,an improved T-equivalent block model is proposed to address the uneven distribution of axial oil temperature inside the motor,and the control node method is applied to hydraulic system thermal modeling.Meanwhile,a dynamic coupling thermal model is developed that enables a dynamic evaluation of the wet EHA temperature.Then,experimental prototypes of wet motor and wet EHA are developed,while the temperature response of the wet motor at different rotation speeds and different loads and the temperature response of the wet EHA at no-load condition were verified experimentally at room temperature,respectively.The maximum temperature difference between the experimental and theoretical results of the wet motor as well as the experimental and theoretical results of the wet EHA is less than 8℃.These test results indicate that the dynamic coupling thermal model is valid and demonstrate that the thermal coupling modeling method proposed in this paper can provide a basis for the detailed thermal design of EHA. | Zongxia JIAO Yanpeng LI Tian YU Chaofan JIANG Ligang HUANG Yaoxing SHANG | 2022 | Chinese Journal of Aeronautics2022，35，6： | 2 |
| 12 | Ground maneuver for front-wheel drive aircraft via deep reinforcement learning显示文摘The maneuvering time on the ground accounts for 10%–30%of their flight time,and it always exceeds 50%for short-haul aircraft when the ground traffic is congested.Aircraft also contribute significantly to emissions,fuel burn,and noise when taxiing on the ground at airports.There is an urgent need to reduce aircraft taxiing time on the ground.However,it is too expensive for airports and aircraft carriers to build and maintain more runways,and it is space-limited to tow the aircraft fast using tractors.Autonomous drive capability is currently the best solution for aircraft,which can save the maneuver time for aircraft.An idea is proposed that the wheels are driven by APU-powered(auxiliary power unit)motors,APU is working on its efficient point;consequently,the emissions,fuel burn,and noise will be reduced significantly.For Front-wheel drive aircraft,the front wheel must provide longitudinal force to tow the plane forward and lateral force to help the aircraft make a turn.Forward traction effects the aircraft’s maximum turning ability,which is difficult to be modeled to guide the controller design.Deep reinforcement learning provides a powerful tool to help us design controllers for black-box models;however,the models of related works are always simplified,fixed,or not easily modified,but that is what we care about most.Only with complex models can the trained controller be intelligent.High-fidelity models that can easily modified are necessary for aircraft ground maneuver controller design.This paper focuses on the maneuvering problem of front-wheel drive aircraft,a high-fidelity aircraft taxiing dynamic model is established,including the 6-DOF airframe,landing gears,and nonlinear tire force model.A deep reinforcement learning based controller was designed to improve the maneuver performance of front-wheel drive aircraft.It is proved that in some conditions,the DRL based controller outperformed conventional look-ahead controllers. | Hao ZHANG Zongxia JIAO Yaoxing SHANG Xiaochao LIU Pengyuan QI Shuai WU | 2021 | Chinese Journal of Aeronautics2021，34，10： | 2 |
| 13 | An aircraft brake control algorithm with torque compensation based on RBF neural network显示文摘The wheel brake system of an aircraft is the key to ensure its safe landing and rejected takeoff.A wheel’s slip state is determined by the brake torque and ground adhesion torque,both of which have a large degree of uncertainty.It is this nature that brings upon the challenge of obtaining high deceleration rate for aircraft brake control.To overcome the disturbances caused by the above uncertainties,a braking control law is designed,which consists of two parts:runway surface recognition and wheel’s slip state tracking.In runway surface recognition,the identification rules balancing safety and braking efficiency are defined,and the actual identification process is realized through recursive least square method with forgetting factors.In slip state tracking,the LuGre model with parameter adaptation and a brake torque compensation method based on RBF neural network are proposed,and their convergence are proven.The effectiveness of our control law is verified through simulation and ground experiment.Especially in the experiments on the ground inertial test bench,compared to the improved pressure-biased-modulation(PBM)anti-skid algorithm,fewer wheel slips occur,and the average deceleration rate is increased by 5.78%,which makes it a control strategy with potential for engineering applications. | Ning BAI Xiaochao LIU Juefei LI Zhuangzhuang WANG Pengyuan QI Yaoxing SHANG Zongxia JIAO | 2024 | Chinese Journal of Aeronautics2024，37，1： | 0 |
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