Force tracking control of an electro-hydraulic control loading system on a flight simulator using inverse model control and a damping compensator

The electro-hydraulic control loading system (EHCLS) of a flight simulator is mainly used to simulate the force feel of flying a real airplane. A double-loop model, including control and hydraulic mechanism of the EHCLS, is established and its force–displacement impedance is analysed to evaluate force tracking performances and its stability. An approximated feed-forward inverse model controller is designed using a zero phase error compensation method for expanding the frequency bandwidth of the inner loop because the identified force closed-loop model is a nonminimum phase system and its direct inverse model is unstable. Modelling error between the designed feed-forward inverse model and the actual plant is discussed and a damping compensator is presented to increase stability of the EHCLS. Theoretical analysis, simulation and experimental results show that the control methods presented are feasible and can effectively improve force feel fidelity and stability of the EHCLS.

[1]  Dong-Ji Xuan,et al.  Design of a forced control system for a dynamic road simulator using QFT , 2008 .

[2]  Long Quan,et al.  Nonlinear robust dual-loop control for electro-hydraulic load simulator. , 2015, ISA transactions.

[3]  G. Shen,et al.  Implementation of electrohydraulic shaking table controllers with a combined adaptive inverse control and minimal control synthesis algorithm , 2011 .

[4]  Junzheng Wang,et al.  A new kind of hydraulic proportional loading method for actuator testing based on the relief valve controlled cylinder , 2013 .

[5]  Zhencai Zhu,et al.  Real-time electro-hydraulic hybrid system for structural testing subjected to vibration and force loading , 2016 .

[6]  Andrew Plummer.  Feedback linearization for acceleration control of electrohydraulic actuators , 1997 .

[7]  Amit Shukla,et al.  Feedback design for robust tracking and robust stiffness in flight control actuators using a modified QFT technique , 1999 .

[8]  Michel Verhaegen,et al.  Off-line feed-forward and feedback control on a vibration rig , 2003 .

[9]  Liang Yan,et al.  High-Accuracy Tracking Control of Hydraulic Rotary Actuators With Modeling Uncertainties , 2014, IEEE/ASME Transactions on Mechatronics.

[10]  Nariman Sepehri,et al.  Electrohydraulic force control design of a hardware-in-the-loop load emulator using a nonlinear QFT technique , 2012 .

[11]  Junwei Han,et al.  Modeling and controller design of a shaking table in an active structural control system , 2008 .

[12]  Jan Swevers,et al.  Multivariable feedback design to improve tracking performance on tractor vibration test rig , 2007 .

[13]  Amit Shukla,et al.  Feedback design for robust tracking and robust stiffness in flight control actuators using a modified QFT technique , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[14]  Nariman Sepehri,et al.  Design and experimental evaluation of a robust force controller for an electro-hydraulic actuator via quantitative feedback theory , 2000 .

[15]  Lucy Y. Pao,et al.  Nonminimum phase adaptive inverse control for settle performance applications , 2010 .

[16]  Li Yunhua,et al.  Development of Hybrid Control of Electrohydraulic Torque Load Simulator , 2002 .

[17]  Zhang Lei,et al.  Adaptive feed-forward compensation for hybrid control with acceleration time waveform replication on electro-hydraulic shaking table , 2013 .

[18]  Zongxia Jiao,et al.  Friction compensation for low velocity control of hydraulic flight motion simulator: A simple adaptive robust approach , 2013 .

[19]  Shuang Gao,et al.  Identification of acceleration harmonic for an electro-hydraulic servo shaking table based on Kalman filter , 2013 .

[20]  Sung-Kyung Lee,et al.  Real-time hybrid shaking table testing method for the performance evaluation of a tuned liquid damper controlling seismic response of building structures , 2007 .

[21]  Kyoung Kwan Ahn,et al.  Force control for hydraulic load simulator using self-tuning grey predictor – fuzzy PID , 2009 .

[22]  Sung Kyung Hong,et al.  Force control system design for aerodynamic load simulator , 2002 .

[23]  Qitao Huang,et al.  Decoupling control for spatial six-degree-of-freedom electro-hydraulic parallel robot , 2012 .

[24]  Kazushi Sanada.  A method of designing a robust force controller of a water-hydraulic servo system , 2002 .

[25]  Kyoung Kwan Ahn,et al.  Online self-tuning fuzzy proportional—integral—derivative control for hydraulic load simulator , 2008 .

[26]  Junwei Han,et al.  Feel force control incorporating velocity feedforward and inverse model observer for control loading system of flight simulator , 2013, J. Syst. Control. Eng..

[27]  Yu Wang,et al.  Robust stabilizer design for linear time-varying internal model based output regulation and its application to an electrohydraulic system , 2014, Autom..