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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >An Antisaturating Adaptive Preaction and a Slide Surface to Achieve Soft Landing Control for Electromagnetic Actuators
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An Antisaturating Adaptive Preaction and a Slide Surface to Achieve Soft Landing Control for Electromagnetic Actuators

机译：用于电磁执行器的软饱和控制的抗饱和自适应预作用和滑动表面

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摘要

Real-control applications of any nature can be affected by saturation limits that generate windup. When saturation occurs in a device its performance deteriorates. Electromagnetic actuators for industrial applications are being utilized ever more frequently for positioning and tracking control problems. One of the most important requirements in tracking trajectories is to achieve a soft landing, which guarantees reliable functionality and a longer component life. This paper presents an application of a typical electromagnetic actuator through a hardware-in-the-loop structure in which a soft landing is required in the tracking trajectory. To avoid saturation, which prevents soft landings, a specific new control law is developed. The proposed technique is based on a cyclic adaptive current preaction combined with a sliding surface. The technique consists of building a control law so that the position of the valve at which its velocity assumes its minimum is as close as possible to the landing point. At this time point, the magnetic force compensates for the elastic force and the preaction component is switched off. An experimental setup using a hardware-in-the-loop to allow a pilot investigation, model validation, and testing before implementation is considered. Real measurements of the proposed method are shown.
机译：任何性质的实际控制应用都可能会受到产生饱和的饱和极限的影响。当设备发生饱和时，其性能会下降。用于工业应用的电磁致动器被越来越频繁地用于定位和跟踪控制问题。跟踪轨迹的最重要要求之一是实现软着陆，以确保可靠的功能和更长的组件寿命。本文介绍了一种典型的电磁执行器通过半环结构的应用，其中在跟踪轨迹中需要软着陆。为了避免饱和（防止软着陆），开发了特定的新控制律。所提出的技术基于结合了滑动表面的周期性自适应电流预作用。该技术包括建立控制律，以使阀的位置（以其速度为最小值）尽可能接近着陆点。在这个时间点，磁力补偿了弹力，并且预作用分量被关闭。在考虑实施之前，使用硬件在环的实验设置允许进行先导调查，模型验证和测试。显示了所提出方法的实际测量结果。

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