Proceedings of the 2004 International Conferenoe
on Intelligent Mechatronics and Automation
Chengdu,China August 2004
Research on fast response and high accuracy control of an
airborne Electro Hydrostatic Actuation system*
Li Jun, Fu Yongling and Wang Zhanlin
School of Automation Science and Electric Engineering
Beging University of Aeronautics and Astronautics
Beijing 100083, P.R.China
Joumera263.net
Abstract - Modeling an airborne IElectro Hydrostatic
Actuation (EHA) system with the nonlinear factors, saturation
and dead zone. Based on double close loop control and variable
gain predictive PD control, designed an innovation hybrid
control scheme for the EHA. Its excellent characters consist of
fast response, high accuracy, robustness and none overshoot. The
scheme has been applied to an airborne EHA prototype
successfully.
Index Terms - electro hydrostatic tramsmission, Brushless
DC Motor, nonlinear control system, load pressure
compensation, predictive PD control.
I. INTRODUCTION
The Electric Hydrostatic transmission or Actuation system
is a typical mechatronic system or device. Combing the
benefits of conventional hydraulic systems and direct drive
electro actuators, such as high torqudmass ratio, high
integration, high efficiency, high performance and without
any hydraulic pipe, the systems have been applied to aircrafts
[l, 21 and mobile devices especially robots [3] successfully
from 1990s. The EHA system will replace the conventional
hydraulic systems gradually. The scholars and researchers all
over the world had a regard for the EHA technologies,
theories and its applications recently [ 1-12].
The outstanding advantages of eleclric hydraulic servo
systems are fast response ability and big load taking-on ability
while the EHA system includes strong nalnlinear factors such
as the dead zone, saturations, parameter uncertainty, big
changes of the load and so on. The robustness, fast response
and high accuracy abilities have become the critical and
difficult problems of EHA.
Saeid Habibi and Andrew Goldenberg [3] modeled the
electro hydraulic actuator and proved the big gain of open
system can constrain the effect of dead zone torque. Ki Ho
Kang, M.pachter, and C.H.Houpis [5] had got well robustness
of an aircraft EHA using Quantitative Feedback Theory. The
Fuzzy Logic position Control has been applied to the variable
displacement of EHA by Kazmeier, B. and Feldmann, D.G
[61.
The design of QFT controller needs much more
experimental data as design pattem plates. This restricts its
applications. The FLC applied to EHA successfully needs the
experimental data and experts’ knowledge similarly. But how
c i s work is partially supported by Scientific Rese,%rch
Fund for doctorate subjects of colleges and universities of China, #20020006006 to Wang Zhanlin
02004 IEEE.
0-7803-8748-1/04/%20.00
Zhang Guiying
Institute of Automation
Chinese Academy of Sciences
Beijing 100080, China
Guiying.zhang@mail.ia.ac.cn
to get the knowledge is difficult. In addition the recent
researches [3-111 enclosed the position controller upon itself
most lacking the analyzing of the vital component, e.g. the
Brushless DC Motor.
This paper describes the double close loop PI control of
BLDCM with load pressure positive compensation. To
achieve high performances of EHA in the full scope, it
designs a variable gain PD control based on predictive
functions and optimal control parameters by lots of
MATLAB/Simulink simulation results.
11. NONLINEAR
MODELING OF EHA SYSTEM
A. Principle of an airborne EHA system
The main schemes of EHA systems [ 121 consist of fixed
displacement of pump and variable rotate speed of motor
(EHA-VS), fixed rotate speed of motor and variable
displacement of pump (EHA-VP), variable displacement of
pump and variable rotate speed of motor (EHA-VSVP). The
EHA-VS is the primary scheme and the most successful
scheme among them. The under mentioned EHA of this paper
is EHA-VS if there is no explain especially.
To meet the needs of high performances of airbome
actuation system in the future, we have designed and
developed a prototype of integrated EHA system [13]. The
principle of airborne EHA is shown in Fig. 1. It consists of a
TMS320F240 DSP controller, a bidirectional high speed
brushless DC motor (270V, 12 000 revlmin), a bidirectional
.fixed displacement pump, a symmetry hydraulic actuator and
sensors including current, angular velocity, load hydraulic
pressure and piston displacement.
Fig.1 Principle diagram of airborne EHA system
This EHA system can track the angle command of aircraft
surface using a position controller and a motor controller, The
position controller assigns the control voltage of PWM drivers
of BLDCM. And then the motor controller assigns the angular
428
velocity and the current of coils of BLDCM. These two
controllers will be designed in this paper later.
B. Nonlinear modeling of BLDCM
Taking into consideration the saturations of voltage and
current of PWM driver and DC power, the dead zone torque
due to the static friction of motor-pump, the nonlinear model
of BLDCM is shown in Fig.2 1131. The parameters of Fig.2
and under mentioned ones are shown in Table I.
I Brushlare DC Yotor I response, high accuracy and robustness synchronously.
Yotor-Punp
I
J,I+B,
Fig.2 schematic diagram of nonlinear model of BLDCM
C. Nonlinear modeling of EHA and its load model
The EHA system is a pumping control hydraulic actuation
system actually. Taking into consideration the saturations of
pressure of the system and displacement of the actuator [3,
131, the nonlinear model of EHA with its load, an aircraft
surface with a link, is shown in Fig.3.
m
I Horn
Fig.3 schematic diagram of nonlinear model of EHA
The load model of an aircraft surface with aerodynamic
force can be described with Equation (1) [ 5 ] .
- B. Design of load pressure positive compensator
In Equation (I), 4 is the aerodynamic pressure.
area of the surface. and chu is the surface hinge torque
coefficient for the attack angle ( a ) of the aircraft and the
angle of deflection ( ) of the surface.
111. FAST RESPONSE AND HIGH ACCURACY CONTROL OF
BLDCM
A. Double close loop PI control of BLDCM
In the EHA system, the voltage type PWM drivers are
applied to drive and control the BLDCM. The range of control
voltage is form -10 V to 10 V. The PWM output voltage is
270 V DC max. And the rating output current is 34 A with 3
times overshooting in a moment allowable. The current
feedback control is applied usually to adjust and limit the
current of coils of the motor. The velocity feedback is
essential to make the motor to track the angular velocity
command input. This is so-called double close loop control of
motors.
The double close loop control of motors adopts ordinary
PI control strategy [I41 as shown in Fig.3. However, this
classical control method cannot meet the needs of fast
D ressure
f I Iter
cont r o I
Fig.4 the double close loop PI hybrid control of BLDCM
As shown in Fig.4, the current controller is a traditional
PI one. The Ki=0.322, q=TLand Kn=36, r,= 0.7s are designed
by velocity control system design method [14].
Fig.5 shows the step response curves of BLDCM with the
PI control under a series control voltages. The possibly
maximal load torque TP,,,=4.3Wm is joined to the BLDCM
at F0.05~. The BLDCM has a good none load step response
while the angular velocity appears clear drop with load torque.
The large numbers of simulations prove the drop range of
velocity depending up the values of the load torque. That is,
high accuracy under variable load torque cannot achieve by
using the PI scheme merely.
sr is the To improve the speed control accuracy of BLDCM under
variable load, we designed a positive pressure compensator to
eliminate the effect of load torque to the BLDCM. The
positive compensator is added to the current loop as shown in
Fig.4.
429
 120
I . . . As shown in Fig.6, adopting load pressure positive
compensator the PI control of BLDCM can improve, the
control accuracy under different load torque.
- 100
Iv. FAST RESPONSE AND HIGH ACCURACY CONTROL OF EHA
2 80
g The c l u e loop control scheme of airborne EHA system is
shown in Fig.1. The PI with load pressure positive
60
w compensator applied to motor controller. We designed a
-9 variable gain PD control based on predictive functions.
$40 A. Design of a variable gain PD controller
c
There is a class of position control system such as aircraft
20 surfaces and robot arms which expect fast response but forbid
to be any overshoot. The high performance airborne EHA
0 with its controller should meet the two needs simultaneity.
0 0.02 004 006 008 01 Therefore, we designed a variable gain PD controller. Kd is
time(s)

=I::
the Derivative coefficient, Kd =0.1. The Proportion Kp can
Fig 5 step response curves of BLDCM with PI control
self-tune according to Equation (3).
Neglecting the effect of current controller, to balance the
effect of load torque completely, the pressure compensator if U 2 1 0
M(s) is shown in Equation (2). Kp if 1 0 > u 2 6 (3)
c, x U' + c, x U + c, others
The Equation (3) is summarized by lots of simulations
For the BLDCM, the electromagnetism time constant is and making use of the curve fitting tools of
T ~ = 3 . 9 8 5 0 ~ 1s.0 ~The switch time constant of PWM drivers MATLAB/Simulink as shown in Fig.7. The parameters of
is T p w e 5 . 0 ~ 1 0 -s.~ Therefore, we can ignore the quadric Equation (3) are c l = 0.09642, c2 = -1.3493, c3 = 9.26. U is
items. Thus, the engineering pressure compensator M(s) can the angle command of the aircraft surface. The range of U is E-
adopt a PD form. In addition, the M(s) can multiply a 25,251.
coefficient R, 0 < R <1, to keep the stabilit); of the close loop
of BLDCM.
IO -
C. eflect of PI control with pressure positive compensator
The PI control with load pressure positive compensator of
BLDCM is shown in Fig.4 considering all nonlinear factors. y = 0.09643"~~ -
1.3493 + 9.26
We made the model of BLDCM within MATLABBimulink
and simulated it with the new hybrid controller. The control
effects and simulating curves are shown in Fig.6 under a
series control voltage values. The possibly maximal load
torque TP,,=4.3N.m is joined to the BLDCM at t-0.05s.

-
120

100
Lq77y]
........... ..............:.............................
I I..............
i u=o.g
e
5
angle command(deg)

+3 .........j ..............i..............i..............i.u=S!.%. -0 2 4 6
80
Fig.7 the optimize control parameters and the fitting curve
B. Simulation and analysis of airborne EHA
9 60 We made the model of airborne EHA within
>
-ia MATLAB/Simulink as shown in Fig.8. The Motor & Control
SI 40 subsystem adopts PI control with load pressure positive
a compensator. And the variable gain PD controller has been
20 applied to the Hybrid PD/ Forecasting Control subsystem as
shown in Fig.9. The variable gain arithmetic is realized within
I i I a S-Function within MATLAB/Simulink.
0
0.02 0.04 0.06 0.08 0.1 Fig.10 shows the step responses of variable angles
tlme(s) command with taking into consideration of above mentioned
Fig.6 step response of PI with pressure compensator nonlinear factors such as saturations, dead zone and variable
load torque of the aircraft surface.

43 0
 The EHA system can startup with the inaxiinal velocity At the same time, the control strategy can self-tune the
and none overshoot. The system achieves fast response, high maximal angular velocity of the BLDCM depending 011 the
accuracy and robustness abilities synchronously under above value of the angle coininand of EHA. The running inaxiinal
hybrid control strategy. The principles of tlie EHA system can angular velocity is sinall than the possible maximal one when
reveal by the angular velocity response curves of BLDCM the coininand value is sinall as shown in curve (1) and (2) of
col-respoiidingly, as shown in Fig. 1 1. Fig.1 1. 111addition, the time of keeping the inaxiinal angular
I , 1 - 1 velocity is depended on the value of the angle coininand of
EHA as shown in curve (3) to (7) of Fig.15. At last, the
angular velocity will di'op rapidly to the value to balance out
the leakage of EHA.
The above mentioned two excellent operational aspects of
the BLDCM can ensure to achieve fast response and high
accuracy synchronously. In addition, the good robustness has
Ae8o FL
I"!-%
been proved by simulating with all kinds of flight data of
171, OLEI-U aircraft surfaces after applied the hybrid compensators.
-?OV.qWJ
In2-Y"
*-E-g+EI TABLE I
MAIN PARAMETERS OF THE AIRBORNE EHA SYSTEM

S-Fundion
U
fibs
In2-Xcmd 1
Fig.9 11ie varinble g;tin I'D controller

16 A(,, iiiertia iiinss 1.4 kg

17 /$, piston tl:iiiipiiip coeflicient I.2x IO' N~nl/(l-:ltl/s)
18 .r piston displnccmcnt 1 4 0 111111
19 Rh liom radius of tlic surface 45.8 iiiin
20
- S, area of the surface I.0til2
-0 0.2 0.4 0.6 0.8 I
I:ig.lO step response of nil-borne El-IA V. CONCLUSIONS
The nonlinear model of EHA has been given, inclucllng
BLDCM, fixed displacement puinp, liydimlic acltiator and
aircraft surfaces.
Designed a double close loop PI controller, the control
scheme of the BLDCM can achieve the rast response.
Designed a load pressure positive compensator, the controller
can weaken tlie effect of load torque to the angular velocity of
the BLDCM. The BLDCM can achieve fast response, liigli
accuracy and robustness with the above menticned hybrid
control strategy.
Designed a variable gain PD controller for a EHA system
0.2 0.4 0.6, 0.8 1
based on optimize siinulating control paraineters with the
Fig.1 1 llic opcralion:il aspect ofl3LDCM under a series
angle commnnd of tlic surface curve fitting tools of MATLAB/Simulink. The simulating
The BLDCM of the EHA with above hybrid control keeps results prove that the airborne EHA system can achieve fast
a favourable operational aspect of the angular velocity as response, high accuracy and robustness synchronously. The
shown in Fig.1 I . The BLDCM can startup with the inaxiinal hybrid control strategy has been applied to a n airborne EHA
angular acceleration for ever when the angle commands of the prototyping system.
surface startup. This inethod makes the EI-TA system achieve In addition, the PI controller with load pi-esstirt: positive
the fast I-esponseability. compensation arithmetic and the variable gain PD arithmetic

43 1
can be realized within the TMS320F240 DSP controller or
other Digital controllers. This control sche:me can be applied
to all kinds of high performance control of electro hydraulic or
mechatronic servo systems.
REFERENCES
Steven Croke, Jack Herrenschmidt, More Electric Initiative Power-By-
Wire Actuation Alternatives [A], Aerospace and Electronics Conference,
1994 (NAECON 94), in: Proceedings of the IEEE 1994 National
Aerospace & Electronics Conference [C], New York, NY, USA: IEEE.
1994,1338-1346
Robert Navarro, Performance of an Electro-Hydrostatic Actuator on the
F-18 Systems Research Aircraft[R], NASA, TM-97-206224.1997.
Alan Brown, Actuator research complete[J], NASA the Dryden X-Press,
VolA1,Issue 1, January 15, 1999, http://www.dfic.nasa.govlNewsroom/
X-Press/ 1999/Janl5/actuator.html
Saeid Habibi, Andrew Goldenberg, Design of a New High Performance
ElectroHydraulic Actuator [A], In: 1999 IEEE/ASME International
Conference on Advanced Intelligent Mechatronics Proceedings [C],
October I , 1999, New York, NY,USA: IEEE, 227-232
Ki Ho Kang, Electro-Hydrostatic Actuator Controller Design Using
Quantitative Feedback Theory[R], 1994, ADA280220
Brend Kazmeier, Energieverbrauchsoptimierte Regelung eines
elektrohydraulischen Linearantriebs kleinier Leistung mit
drehzahlgeregeltem Elektromotor und Verslellpumpe, Fortschritt-
Berichte VDI, Reihe 8, Nr.733,24. Juli 1998(in Germany)
Lee, C.B.; Wu, H.W. Self-tuning adaptive speed control for hydrostatic
transmission systems [J], International Journal of Computer Applications
in Technology, v 9, n 1, 1996, 18-33
Fulkerson, Tom. Integrated hydrostatic transmission control [J], SAE
Special Publications, v 1192, Aug. 1996, New Fluid Power Applications,
Components, and Testing, 15-19
Njabeleke, Ignatius A.; Pannett, Richard F.; Chawdhry, Pravir K.;et al.
Modelling and control of a high speed hydrctstatic transmission [J],
American Society of Mechanical Engheers, The Fluid Power and
Systems Technology Division (PublicaEon) FPST, v 5, Fluid Power
Systems and Technology, 1998, 1-10
[ 101 Njabeleke, LA.; Pannett, R.F.; Chawdhry, P.X:.;et al. Self-organising
fuzzy logic control of a hydrostatic transmission, IEE Conference
Publication, n 455, 1, 1998,66-72
[ 1I] Kwasniewski, Janusz; Piotrowska, Agata; Raczka, Waldemar, et al. The
mathematical model of a hydrostatic transmission for controller
design[C], Proceedings of the IASTED International Conference on
Modelling and Simulation, 2003,275-280
[I21 Qi Xiaoye, Fu Yongling, Wang Zhanlin, Scheme Analysis of Power by
Wire Airborne Actuation Systems, Journal of' Beijing University of
Aeronautics and Astronautics, 1999, Vol. 25(4): 426-430(in Chinese)
[ 131 Li Jun, Fu Yongling, Wang Zhanlin, etc. Design and Analysis of a Novel
Airborne Integrated Electro-Hydrostatic Actuator [J], Journal of Beijing
University of Aeronautics and Astronautics, 2003, Vol.29( 12): 1101-
1104(in Chinese)
[I41 Chi Zhaoji, Power transmission and velocity conlrol system [MI, Beijing:
Press of Beijing University of Aeronautics and Astronautics, 1992.9(in
Chinese)
1151 Wang Zhanlin, Recent Hydraulics Control [MI, Beijing, China: Chinese
mechanical industry press, 1997.8(in Chinese)
432
Li Jun was born in Zhongxian county of Chongqing,
P.R. of China in August 28, 1973. He was graduated
from School of Automation Science and Electric
Engineering, Beijing University of Aeronautics and
Astronautics in July 1997. He was engaged in robots,
mechatronic control systems and industrial control
projects from September 1998 when he became a
graduate student of BUAA. He transferred to a doctor
student in September 2000 in advance. He idwas major
in analysis, design and develomnent of the airborne electro hvdrostatic
actuation systems including Brushless DC Motor and its DSP controiler, EHA
system simulation and experimental researches. He has got the doctorate
dissertation innovative scholarship of BUAA in 2003. He has published 15
research papers and 3 technical books by far. His e-mail is journer@263.net:
Fu Yongling (1966-), PH.D of Engineering, is a
professor of Beijing University of Aeronautics and
Astronautics, Beijing, China. His major research
interests are new hydraulic control systems and
industrial robots. He has published 40 research papers
and edited 2 technical books by far. His e-mail is
fuyongling@yahoo.com.cn.
Wang Zhanlin (1934-) is a member of International
Federation of Automatic Control (IFAC), a professor of
Beijing University of Aeronautics and Astronautics,
Beijing, China. His major research interests are
mechatronic control, hydraulic control systems and
aircraft actuation systems. He has published 130
research papers and edited 4 technical books. His e-mail
is zhanlin.w@263.net.
Zhang Guiying (1979-), Master of Engineering, was
with School of Automation Science and Electric
Engineering, Beijing University of Aeronautics and
Astronautics, Beijing, China., She is now with Beijing
Institute of Automation, Chinese Academy of Sciences,
Her e-mail is: Guiying.zhang@mail.ia.ac.cn.