Hybrid Steering System's Pid-based Adaptive Control

A special approach to the construction of a hybrid system of drives of the steering surface of an aircraft is considered. The system consists of one electro-hydraulic actuator (EHA) and one electromechanical actuator (EMA). The general mathematical model of the system, which takes into account the nonlinearity of friction forces in the engine and the actuator, as well as elastic links, is discussed in detail. The results of the system structure analysis are presented and an algorithm for eliminating the influence of the mutual load between the two channels is proposed. The presented control law of the drive system is based on the use of PID controllers and an adaptive correction algorithm (signal adaptation).