Force Equalization for Redundant Active/Active Position Control System Involving Dissimilar Technology Actuators
Résumé
The purpose of this communication is to develop the suitable control strategies to solve the force fighting of redundant active/active position control system involving dissimilar technology actuators. The research work is based on one redundant actuation test bench composed by one electro-mechanical actuator (EMA) and one servo-hydraulic actuator (SHA). One numerical model of this test bench is developed and detailed, and the sources for force fighting are studied based on it. Then three static force equalization control strategies are advanced. In the first one, both actuators are at position control and with quasi static force equalization. In the second one, the SHA is at position control but the EMA is at force control to compensate the force fighting. In the third one, the SHA is controlled to drive the position load while the EMA is controlled to output zero force. With both simulations and experiments, these three strategies are compared and concluded.