Journal of Aerospace System Engineering (항공우주시스템공학회지)

The Society for Aerospace System Engineering (항공우주시스템공학회)
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Position Control of Dual Redundant Asymmetric Tandem Electro-Hydrostatic Actuator for Aircraft based on Backstepping Technique

백스테핑 기법을 이용한 항공기용 이중화 비대칭형 직렬 전기-정유압 구동기의 위치제어

  • Kim, Daeyeon (Aero Mechanical R&D Center, Hanwha Aerospace) ;
  • Park, Hyung Jun (Aero Mechanical R&D Center, Hanwha Aerospace) ;
  • Kim, Sang Seok (Aero Mechanical R&D Center, Hanwha Aerospace) ;
  • Kim, Dae Hyun (Aero Mechanical R&D Center, Hanwha Aerospace) ;
  • Kim, Sang Beom (Aero Mechanical R&D Center, Hanwha Aerospace) ;
  • Lee, Junwon (Aero Mechanical R&D Center, Hanwha Aerospace) ;
  • Choi, Jong Yoon (3rd Directorate, Aerospace Technology Research Institute, Agency for Defense Development)
  • 김대연 (한화에어로스페이스(주) 항공기계R&D센터) ;
  • 박형준 (한화에어로스페이스(주) 항공기계R&D센터) ;
  • 김상석 (한화에어로스페이스(주) 항공기계R&D센터) ;
  • 김대현 (한화에어로스페이스(주) 항공기계R&D센터) ;
  • 김상범 (한화에어로스페이스(주) 항공기계R&D센터) ;
  • 이준원 (한화에어로스페이스(주) 항공기계R&D센터) ;
  • 최종윤 (국방과학연구소 항공기술연구원 3부)
  • Received : 2020.12.01
  • Accepted : 2021.01.22
  • Published : 2021.06.30
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Abstract

The electro-hydrostatic actuators (EHA) are widely used in various industrial fields since they can independently execute the function of the hydraulic power source and have high efficiency. Particularly, in the aviation field, the EHA is mainly designed as dual redundant asymmetric tandem actuator to mitigate failure and minimize installation space. However, aviation EHAs designed in the form of dual redundant asymmetric tandem actuator have the disadvantage of decreased durability performance due to the occurrence of force fighting. In this paper, the controller is designed based on backstepping technique to improve control performance and reduce force fighting for aviation EHA. The augmented state observer is proposed to estimate the states required for control. Through simulation, it was verified that the proposed controller had superior control performance and significantly reduces the force fighting compared to the general PI controller.

전기-정유압 구동기(EHA)는 독립적으로 유압 동력원을 운용할 수 있고, 효율이 높다는 장점으로 다양한 산업분야에서 사용되고 있다. 특히 항공분야에서는 고장 대비 및 장착공간의 최소화를 위해 이중화 비대칭형 직렬 구동기 형태로 설계된 EHA를 주로 사용하고 있다. 하지만 이중화 비대칭형 직렬 구동기 형태로 설계된 항공용 EHA는 포스 파이팅(force fighting)현상이 발생하여 내구성능이 감소한다는 단점이 있다. 본 논문에서는 항공용 EHA의 제어성능 향상 및 포스 파이팅 문제를 해결하기 위해 대표적인 비선형 제어 기법인 백스테핑을 기반으로 제어기를 설계하였고, 제어에 필요한 상태를 추정하기 위해 추가 상태 관측기를 제안하였다. 시뮬레이션을 통한 성능 검증으로 제안한 제어기는 일반적인 PI제어기에 비해 제어성능이 우수하고, EHA의 포스 파이팅 현상을 현저히 감소시킨다는 것을 확인할 수 있었다.

Keywords

Acknowledgement

해당 논문은 국방과학연구소 '19년 산학연주관 핵심 기술(시험개발) 연구개발과제 "Electro-Hydrostatic 엑츄에이터(EHA) 개발"의 일환으로 수행된 것입니다.

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