Abstract
Electrification is the development trend of future aircraft, by which exploration on effective control strategy for electromechanical actuator (EMA) in aero-engine system is significant. For this, this paper focuses on an adaptive robust control strategy for EMA-driven nozzle deflection system in consideration of complex (maybe nonlinear time-varying) uncertainty, including modeling error, external disturbances, variable loads, and so on. First, a nonlinear dynamic modeling of EMA actuation system is constructed, based on which a set of angle constraints on the actuator motors is constructed to represent the nozzle deflection command, and then an angle constraint-following error is defined to measure the satisfaction degree of constraints. By this, the problem of nozzle deflection control is transformed into another constraint-following control. Second, to handle complex uncertainty, an adaptive law is developed to estimate the unknown bound online, and then a robust controller is designed. By combining the two, an adaptive robust control strategy is formulated to render the angle constraint-following error to be uniform bounded and uniform ultimate bounded, that means the nozzle deflection actuation system can track the nozzle deflection command in real time. Finally, to handle the conflict between the control commands and the actual execution capability of the actuator, a homeomorphic differential transformation on the control input is carried out to limit the input peak. By this, the control input can be limited to an expected range that is determined by the maximum execution capacity of the electromechanical actuator. In summary, this paper realizes three-layer control objectives of nozzle vector deflection control, complex uncertainty control and control input limitation by one adaptive robust control strategy.
Similar content being viewed by others
Data availibility
The data sets generated during and/or analysed during the current study are not publicly available due to the article has not yet been published, but are available from the corresponding author on reasonable request.
References
Ma, Y., Yang, G., Sun, Q., Wang, X.: Adaptive robust feedback control of moving target tracking for all-electrical tank with uncertainty. Def. Technol. 18(4), 626–642 (2022)
Sun, Q., Wang, X., Chen, Y.H., Ma, F.: Adaptive robust control for pointing tracking of marching turret-barrel systems: coupling, nonlinearity and uncertainty. IEEE Trans. Intell. Transp. Syst. 23(9), 16397–16409 (2022)
Ma, R., Zhang, H., Yuan, M., Liang, B., Li, Y., Huangfu, Y.: Chattering suppression fast terminal sliding mode control for aircraft EMA braking system. IEEE Trans. Transp. Electrif. 7(3), 1901–1914 (2021)
Liu, D., Wang, J., Wang, S., Shi, D.: Active disturbance rejection control for electric cylinders with PD-type event-triggering condition. Control. Eng. Pract. 100, 104448–104458 (2020)
Bolam, R.C., Vagapov, Y., Anuchin, A.: Review of electrically powered propulsion for aircraft. In: 2018 53rd International Universities Power Engineering Conference (UPEC), pp. 1–6 (2018)
Ismagilov, F., Karimov, R., Sayakhov, I., Bakirov, A., Zinatullin, G., Zharkov, E.: Electromechanical actuators for aircraft aerodynamic surfaces control. In: 2021 28th International Workshop on Electric Drives: Improving Reliability of Electric Drives (IWED), pp. 1–5 (2021)
Abdulin, R.R., Podshibnev, V.A., Rozhnin, N.B., Samsonovich, S.L.: Development of reservous electromechanical drive actuator based on a differential mechanism for aircraft. In: 2021 International Conference on Electrotechnical Complexes and Systems (ICOECS), pp. 516–518 (2021)
Cao, Z., Liu, H., Zhou, Y., Zhang, C.: Energy optimization charateristic analysis of more electric aircraft flight control System. In: 2018 IEEE 2nd International Electrical and Energy Conference (CIEEC), pp. 227–231 (2018)
Rahman, S., Ghering, J., Khan, I.A., Tariq, M., Kalam, A., Iqbal, A.: Novel dynamic power balancing solution for minimization overdesigning in military aircraft power system architecture. In: IECON 2021-47th Annual Conference of the IEEE Industrial Electronics Society, pp. 1–6 (2021)
Rajashekara, K., Jia, Y.: An induction generator based auxiliary power unit for power generation and management system for more electric aircraft. In: 2016 IEEE Energy Conversion Congress and Exposition (ECCE), pp. 1–7 (2016)
Zhang, Y., Peng, Y., Liu, L.: Degradation estimation of electro-mechanical actuator with multiple failure modes using integrated health indicators. IEEE Sens. J. 20(13), 7216–7225 (2020)
Zhang, X., Tang, L., Chen, J.: Fault diagnosis for electro-mechanical actuators based on STL-HSTA-GRU and SM. IEEE Trans. Instrum. Meas. 70, 1–16 (2021)
Watson, M.J., Smith, M.J., Kloda, J., Byington, C.S., Semega, K.: Prognostics and health management of aircraft engine ema systems. In: Proceedings of the ASME 2011 Turbo Expo: Turbine Technical Conference and Exposition, vol. 3, pp. 427–435 (2011)
Chwa, D.: Adaptive neural output feedback tracking control of underactuated ships against uncertainties in kinematics and system matrices. IEEE J. Ocean. Eng. 46(3), 720–735 (2021)
Niu, J., Chen, F., Tao, G.: Nonlinear fuzzy fault-tolerant control of hypersonic flight vehicle with parametric uncertainty and actuator fault. Nonlinear Dyn. 92, 1299–1315 (2018)
Sun, Q., Yang, G., Wang, X., Chen, Y.H.: Designing robust control for mechanical systems: constraint following and multivariable optimization. IEEE Trans. Ind. Inform. 16(8), 5267–5275 (2019)
Sun, Q., Yang, G., Wang, X., Chen, Y.H.: Regulating constraint-following bound for fuzzy mechanical systems: indirect robust control and fuzzy optimal design. IEEE Trans. Cybern. 52(7), 5868–5881 (2020)
Hao, Y., Lin, X., Xia, C., Xu, F., Wang, X.: Spacecraft close-range position tracking control via system uncertainty observer. In: 2022 IEEE 6th Advanced Information Technology, Electronic and Automation Control Conference (IAEAC), pp. 281–285 (2022)
Sun, J., Song, S., Li, P., Wu, G.: Adaptive anti-saturation fault-tolerant control of hypersonic vehicle with actuator faults. Proc. Inst. Mech. Eng. G J. Aerosp. Eng. 233(6), 2066–2083 (2019)
Yue, Z., Sun, J.: Robust fault-tolerant control design for hypersonic vehicle with input saturation and actuator faults. Proc. Inst. Mech. Eng. G J. Aerosp. Eng. 236(8), 1563–1576 (2022)
Liu, L., Yang, A., Chen, W., Zhang, W.: Resilient anti-disturbance dynamic surface control of uncertain strict-feedback systems subject to partial loss of actuator effectiveness. Nonlinear Dyn. 110, 349–362 (2022)
Yang, X., Ge, Y., Deng, W., Yao, J., Zhou, N.: Active fault-tolerant control for hydraulic actuating cylinders of aeroengine guide vane control mechanisms. Acta Aeronaut. Astronaut. Sin. 43(9), 184–193 (2021). (Chinese)
Udwadia, F.E.: A new perspective on the tracking control of nonlinear structural and mechanical systems. Proc. R. Soc. Lond. A 459(2035), 1783–1800 (2003)
Udwadia, F.E.: A new approach to stable optimal control of complex nonlinear dynamical systems. J. Appl. Mech. 81(3), 031001–031006 (2014)
Chen, Y.H., Zhang, X.: Adaptive robust approximate constraint-following control for mechanical systems. J. Frankl. Inst. 347(1), 69–86 (2010)
Sun, Q., Wang, X., Chen, Y.H.: Satellite formation-containment control emphasis on collision avoidance and uncertainty suppression. IEEE Trans. Cybern. (2022). https://doi.org/10.1109/TCYB.2022.3173683
Sun, Q., Wang, X., Chen, Y.H.: Adaptive robust control for dual avoidance-arrival performance for uncertain mechanical systems. Nonlinear Dyn. 94, 759–774 (2018)
Sun, Q., Wang, X., Yang, G., Chen, Y.H., Ma, F.: Adaptive robust formation control of connected and autonomous vehicle swarm system based on constraint following. IEEE Trans. Cybern. (2022). https://doi.org/10.1109/TCYB.2022.3150032
Wang, Z., Yang, G., Wang, X., Sun, Q., Ma, Y.: Adaptive robust control for triple avoidance-striking-arrival performance of uncertain tank mechanical systems. Def. Technol. 18(8), 1483–1497 (2022)
Ma, Y., Yang, G., Sun, Q., Wang, X., Sun, Q.: Adaptive robust control of moving-target tracking for marching tank based on constraint following. Proc. Inst. Mech. Eng. Part D J. Automob. Eng. 236(9), 2087–2102 (2022)
Ma, Y., Yang, G., Sun, Q., Wang, X., Wang, Z.: Adaptive robust feedback control of moving target tracking for all-electrical tank with uncertainty. Def. Technol. 18(4), 626–642 (2022)
Yang, S., Wang, X., Wang, H., Li, Y.: Sliding mode control with system constraints for aircraft engines. ISA Trans. 98, 1–10 (2020)
Izadbakhsh, A., Khorashadizadeh, S.: Neural control of robot manipulators considering motor voltage saturation: performance evaluation and experimental validation. COMPEL 40(1), 27–29 (2021)
Chen, Y.H., Kuo, C.Y.: Positive uncertain systems with one-sided robust control. J. Dyn. Syst. Meas. Control 119(4), 675–684 (1997)
Zhong, Z., Ge, S.: Trajectory tracking control of a miniature autonomous helicopter with input and output constraints. In: 2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), pp. 387–392 (2017)
Chen, J., Liang, H., Li, J., Lv, Z.: Connected automated vehicle platoon control with input saturation and variable time headway strategy. IEEE Trans. Intell. Transp. Syst. 22(8), 4929–4940 (2020)
Liu, J., Wang, Y., Cao, J., Yue, D., Xie, X.: Secure adaptive-event-triggered filter design with input constraint and hybrid cyber attack. IEEE Trans. Cybern. 51(8), 4000–4010 (2020)
Schnelle, F., Eberhard, P.: Constraint mapping in a feedback linearization/MPC scheme for trajectory tracking of underactuated multibody systems. IFAC-PapersOnLine 48(23), 446–451 (2015)
Qiu, J., Sun, K., Rudas, I.J., Gao, H.: Command filter-based adaptive NN control for MIMO nonlinear systems with full-state constraints and actuator hysteresis. IEEE Trans. Cybern. 50(7), 2905–2915 (2019)
Wang, Z., Yang, G., Wang, X., Sun, Q.: Adaptive-adaptive robust boundary control for uncertain mechanical systems with inequality constraints. Nonlinear Dyn. 110(1), 449–466 (2022)
Cai, C., Peng, Y., Zheng, Q., Zhang, H.: Vector deflection stability control of aero-engine based on linear active disturbance rejection. Chin. J. Aeronaut. 35(8), 221–235 (2022)
Liu, Y., Fu, D., Cai, C., Sun, F., Zhang, H.: Modeling and simulation of spatial kinematics of axisymmetric vectoring nozzle. Aeroengine 46(6), 34–40 (2020). (Chinese)
Pars, L.A.: A Treatise on Analytical Dynamics. Heinemann, London (1965)
Rosenberg, R.: Analytical Dynamics. Plenum Press, New York (1977)
Chen, Y.H.: Constraint-following servo control design for mechanical systems. J. Vib. Control 15(3), 369–389 (2009)
Ruan, W., Dong, Q., Zhang, X., Li, Z.: Friction compensation control of electromechanical actuator based on neural network adaptive sliding mode. Sensors 21(4), 1508–1521 (2021)
Khalil, H.K.: Nonlinear Systems. Publishing House of Elec, New York (2001)
Chen, Y.H., Leitmann, G.: Robustness of uncertain systems in the absence of matching assumptions. Int. J. Control Autom. Syst. 45(5), 1527–1542 (1987)
Funding
This research is supported jointly by the Provincial Natural Science Foundation of Jiangsu (No. BK20230879), the National Natural Science Foundation of China (No. 62303219), the National Natural Science Foundation of China (No. 52175099) and the China Postdoctoral Science Foundation (No. 2022M721599).
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflicts of interest
The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Appendix
Appendix
See Table 1.
Rights and permissions
Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
About this article
Cite this article
Wang, X., Wu, Z., Sun, Q. et al. Adaptive robust constraint-following control for electromechanically driven vector deflection system emphasis on time-varying uncertainty and input limit. Nonlinear Dyn (2024). https://doi.org/10.1007/s11071-024-09638-0
Received:
Accepted:
Published:
DOI: https://doi.org/10.1007/s11071-024-09638-0