Adaptive Control with ESP32 for Anti-windup Design of Actuator with Input Saturation

For overcoming the unknown nonlinearity and parameters variability in the model of electro-hydrostatic actuator system, A Lyapunov function-based control algorithm is addressed for force tracking control in the case of input saturation presence. Treating modeling errors, unmodeled nonlinearities as unknown external disturbances, the state space model of electro-hydrostatic actuator is formulated as a strict feedback system. By using backstepping approaches, an online estimation scheme is adopted to approximate the external disturbance of the system. To deal with saturation, the anti-windup compensator is constructed. The tracking error is adjustable by an explicit choice of design parameters. The simulation results and experiment results are provided to show that the control scheme proposed has a good capacity to deal with the model parameter uncertainty, and compared with the classical beckstepping control, the robustness and steady state accuracy have improved obviously. Introduction The rapid development of aviation makes the defects of traditional hydraulic actuation mechanism get serious. With the rapid development of the aviation field, the shortcomings of the traditional hydraulic actuator are more and more prominent. In recent years, with the development of power telex technology, especially the use of high-voltage DC power system, the electromechanical actuator (EMA) in aircraft applications become a reality. Electro-Hydrostatic Actuator (EHA) has the advantages of hydraulic system and motor actuation, can be used as a backup of traditional hydraulic actuator [2] constitute a redundant system, or with the EMA constitute a hybrid actuation system [3], has good prospects for development, has been used in large passenger aircraft A380. Domestic research started late, in the modeling and simulation and prototype verification stage. In this paper, the difference between the controller output and the actual input of the controlled object is used as the feedback signal, and the Anti-windup compensator is designed to form the feedback loop to eliminate the Windup phenomenon. In this paper, the Nussbaum function is used to approximate the differential term of the saturated fitting function. The advantages of the design are simple and easy to realize. Simulation and experiment verify the validity of the control method. Electric Servo System Structure For PMSM of an electric servo sytem, it is assumed that is the magnetic circuit not saturated, the magnetic field of the air gap is sinusoidal, the stator is a three-phase symmetrical winding, the rotor has no damper winding, therefore,the hidden pole PMSM is modeled like this: The dynamic equation of the load part is: l l l l l f J b T T       (1) where, l J is the load moment of inertia, l  is the load output corner, l b is the load viscidity damping coefficient,  is the transmission mechanism deceleration ratio, f T is the disturbance torque. 1156 7th International Conference on Education, Management, Computer and Society (EMCS 2017) Advances in Computer Science Research (ACSR), volume 61