第17卷第5期 智能系统学报 Vol.17 No.5 2022年9月 CAAI Transactions on Intelligent Systems Sep.2022 D0:10.11992/tis.202109012 网络出版地址:https:/kns.cnki.net/kcms/detail/23.1538.TP.20220617.1915.010.html 采用智能算法参数整定的磁流变减摆自抗扰控制 董磊,陈增强2,孙明玮,孙青林,黄朝阳 (1.南开大学人工智能学院,天津300350:2.天津市智能机器人重点实验室,天津300350) 摘要:为了提高飞机起飞和降落过程中的稳定性及安全性,采用磁流变阻尼器进行飞机前轮摆振控制。本文 描绘了改进的Bouc-wen模型磁流变阻尼器的力学特性,并将之用于一个三自由度的飞机前起落架模型中,而 后为此设计了减摆自抗扰控制器(active disturbance rejection control,.ADRC):然后采用混沌分数阶天牛群算法整 定优化自抗扰控制器的参数。最后,仿真结果显示经智能算法优化参数后的减摆自抗扰控制器能够较好地控 制摆振现象,并且其性能具有一定的鲁棒性。 关键词:飞机前起落架;摆振;磁流变阻尼器;改进的Bouc-wen模型;减摆;自抗扰控制;天牛群算法;混沌分数 阶天牛群算法:参数优化:鲁棒性 中图分类号:TP273 文献标志码:A文章编号:1673-4785(2022)05-0951-09 中文引用格式:董磊,陈增强,孙明玮,等.采用智能算法参数整定的磁流变减摆自抗扰控制[.智能系统学报,2022,17(5): 951-959. 英文引用格式:DONG Lei,,CHEN Zengqiang,.SUN Mingwei,,etal.Active disturbance rejection control of the magneto--rheological shimmy damper based on the smart chaos fractional-order beetle swarm optimization algorithm CAAI transactions on intelli- gent systems,2022,17(⑤:951-959. Active disturbance rejection control of the magneto-rheological shimmy damper based on the smart chaos fractional-order beetle swarm optimization algorithm DONG Lei',CHEN Zengqiang",SUN Mingwei',SUN Qinglin',HUANG Zhaoyang' (1.College of Artificial Intelligence,Nankai University,Tianjin 300350,China;2.Key Laboratory of Intelligent Robots,Tianjin 300350,China) Abstract:To improve the stability and safety of an aircraft during the take-off and landing,a magneto-rheological damper is applied to the shimmy control of its front wheel.In this paper,the mechanical properties of a modified Bouc-Wen magneto-rheological damper are described,which is used in an aircraft landing gear model with three de- grees of freedom and for which a third-order active disturbance rejection controller(ADRC)is later designed;sub- sequently,the chaos fractional-order beetle swarm optimization is used to optimize the controller parameters.Finally, the simulation results indicate that the controller with optimized parameters exhibits good performance in shimmy redu- cing control with certain robustness. Keywords:aircraft front landing gear;shimmy;magneto-rheological damper;modified Bouc-wen model;shimmy re- duce;active disturbance rejection control;beetle swarm optimization,chaos fractional order beetle swarm optimization, parameters optimization;robustness 飞机现多采用前三点式起落架,这种结构方尤其是着陆过程,前起落架会受到机身大部分的 式可以使飞机具有良好的地面运动稳定性、着陆 负荷,加之跑道等因素的相互作用,前轮容易产 易操纵性、飞行员视界良好等优点山。但是对前 生基于中心的往复运动的摆振现象。这种现象若 起落架提出了更高的要求,起飞和着陆过程中, 不加以控制,会产生安全事故。常用的方式就是 加入阻尼器来控制摆振。应用较多的是油液式阻 收稿日期:2021-09-03.网络出版日期:2022-06-21 基金项目:国家自然科学基金项目(61973175,61573177.61973172). 尼器,它可以提供阻尼力来抑制摆振。近些年, 通信作者:陈增强.E-mail:chenzq@nankai,.edu.cn. 磁流变液作为智能材料受到广泛的关注,而磁流DOI: 10.11992/tis.202109012 网络出版地址: https://kns.cnki.net/kcms/detail/23.1538.TP.20220617.1915.010.html 采用智能算法参数整定的磁流变减摆自抗扰控制 董磊1 ,陈增强1,2,孙明玮1 ,孙青林1 ,黄朝阳1 (1. 南开大学 人工智能学院,天津 300350; 2. 天津市智能机器人重点实验室,天津 300350) 摘 要:为了提高飞机起飞和降落过程中的稳定性及安全性,采用磁流变阻尼器进行飞机前轮摆振控制。本文 描绘了改进的 Bouc-wen 模型磁流变阻尼器的力学特性,并将之用于一个三自由度的飞机前起落架模型中,而 后为此设计了减摆自抗扰控制器 (active disturbance rejection control, ADRC);然后采用混沌分数阶天牛群算法整 定优化自抗扰控制器的参数。最后,仿真结果显示经智能算法优化参数后的减摆自抗扰控制器能够较好地控 制摆振现象,并且其性能具有一定的鲁棒性。 关键词:飞机前起落架;摆振;磁流变阻尼器;改进的 Bouc-wen 模型;减摆;自抗扰控制;天牛群算法;混沌分数 阶天牛群算法;参数优化;鲁棒性 中图分类号:TP273 文献标志码:A 文章编号:1673−4785(2022)05−0951−09 中文引用格式:董磊, 陈增强, 孙明玮, 等. 采用智能算法参数整定的磁流变减摆自抗扰控制 [J]. 智能系统学报, 2022, 17(5): 951–959. 英文引用格式:DONG Lei, CHEN Zengqiang, SUN Mingwei, et al. Active disturbance rejection control of the magneto-rheological shimmy damper based on the smart chaos fractional-order beetle swarm optimization algorithm[J]. CAAI transactions on intelligent systems, 2022, 17(5): 951–959. Active disturbance rejection control of the magneto-rheological shimmy damper based on the smart chaos fractional-order beetle swarm optimization algorithm DONG Lei1 ,CHEN Zengqiang1,2 ,SUN Mingwei1 ,SUN Qinglin1 ,HUANG Zhaoyang1 (1. College of Artificial Intelligence, Nankai University, Tianjin 300350, China; 2. Key Laboratory of Intelligent Robots, Tianjin 300350, China) Abstract: To improve the stability and safety of an aircraft during the take-off and landing, a magneto –rheological damper is applied to the shimmy control of its front wheel. In this paper, the mechanical properties of a modified Bouc–Wen magneto–rheological damper are described, which is used in an aircraft landing gear model with three degrees of freedom and for which a third-order active disturbance rejection controller (ADRC) is later designed; subsequently, the chaos fractional-order beetle swarm optimization is used to optimize the controller parameters. Finally, the simulation results indicate that the controller with optimized parameters exhibits good performance in shimmy reducing control with certain robustness. Keywords: aircraft front landing gear; shimmy; magneto-rheological damper; modified Bouc-wen model; shimmy reduce; active disturbance rejection control; beetle swarm optimization; chaos fractional order beetle swarm optimization; parameters optimization; robustness 飞机现多采用前三点式起落架,这种结构方 式可以使飞机具有良好的地面运动稳定性、着陆 易操纵性、飞行员视界良好等优点[1]。但是对前 起落架提出了更高的要求,起飞和着陆过程中, 尤其是着陆过程,前起落架会受到机身大部分的 负荷,加之跑道等因素的相互作用,前轮容易产 生基于中心的往复运动的摆振现象。这种现象若 不加以控制,会产生安全事故。常用的方式就是 加入阻尼器来控制摆振。应用较多的是油液式阻 尼器,它可以提供阻尼力来抑制摆振[2]。近些年, 磁流变液作为智能材料受到广泛的关注,而磁流 收稿日期:2021−09−03. 网络出版日期:2022−06−21. 基金项目:国家自然科学基金项目(61973175,61573177,61973172). 通信作者:陈增强. E-mail:chenzq@nankai,edu.cn. 第 17 卷第 5 期 智 能 系 统 学 报 Vol.17 No.5 2022 年 9 月 CAAI Transactions on Intelligent Systems Sep. 2022