Affiliation:
1. Zhejiang University
2. Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration, Nanjing Engineering Institute of Aircraft System
3. Aviation Key Laboratory of Science Technology on Aero Electromechanical System Integration, Nanjing Engineering Institute of Aircraft System
Abstract
Abstract
This paper proposes an accurate dead zone compensation control method for electro-hydrostatic actuators (EHAs) under low-speed conditions. Specifically, the nonlinear dead zone characteristics under low-speed conditions are summarized based on many EHA experiments. Then, an adaptive compensation function (ACF) for the dead zone is constructed. Next, based on the established EHA model, this paper proposes an adaptive dead zone compensation control method for EHAs by combining ACF with the virtual decomposition controller (VDC). The stability of the proposed control method is also proved. Finally, the proposed control method is verified by the EHA platform. Test results show that the dead zone trajectory tracking error of EHA is significantly reduced when combined with ACF. Furthermore, since most EHAs are controlled by adjusting the motor speed, the method presented in this paper is simpler and easier to use than methods that employ flow compensation.
Publisher
Research Square Platform LLC
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