1. Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China; 2.Wuhan Marine Machinery Plant Limited Company, Wuhan 430084, China; 3. Aviation Industry Corporation of China Xi’an Aircraft Industry (Group) Limited Company, Xi’an 710089, China
In the airplane large component pose adjusting system, unbalanced load distribution of large components between three-coordinate localizers can cause systemic uncertainties of the control system, which results in the decrease of dynamic and static position precision. In order to eliminate the negative impact of systemic uncertainties, a close loop servo system based on model reference adaptive control (MRAC) designed for three-coordinate localizer was present. Firstly, the model of signal motion axis was built to get a priori knowledge of the control object. Then the control law and the adaptive law were acquired by Lyapunov method, and the matrixes related to the adaptive law were also chosen properly. In order to suppress the interference of the error vibrations to the position precision, a Butterworth filter was added to the position servo system. The experimental results show that: the new servo control system can eliminate the uncertainties effectively, and also has excellent dynamic response, with the dynamic position error not exceeding 0.05 mm and the static position error is zero.
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