Friction compensation for low velocity control of hydraulic flight motion simulator: A simple adaptive robust approach

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[1] Yao, Jianyong
[2] Jiao, Zongxia
[3] Han, Songshan
来源：
Yao, J. (jerryyao.buaa@gmail.com) | 1600年 / Chinese Journal of Aeronautics卷 / 26期
关键词：
Low-velocity tracking capability is a key performance of flight motion simulator (FMS); which is mainly affected by the nonlinear friction force. Though many compensation schemes with ad hoc friction models have been proposed; this paper deals with low-velocity control without friction model; since it is easy to be implemented in practice. Firstly; a nonlinear model of the FMS middle frame; which is driven by a hydraulic rotary actuator; is built. Noting that in the low velocity region; the unmodeled friction force is mainly characterized by a changing-slowly part; thus a simple adaptive law can be employed to learn this changing-slowly part and compensate it. To guarantee the boundedness of adaptation process; a discontinuous projection is utilized and then a robust scheme is proposed. The controller achieves a prescribed output tracking transient performance and final tracking accuracy in general while obtaining asymptotic output tracking in the absence of modeling errors. In addition; a saturated projection adaptive scheme is proposed to improve the globally learning capability when the velocity becomes large; which might make the previous proposed projection-based adaptive law be unstable. Theoretical and extensive experimental results are obtained to verify the high-performance nature of the proposed adaptive robust control strategy. © 2013 Production and hosting by Elsevier Ltd. on behalf of CSAA & BUAA;
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