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Abstract
Aerospace erection system is applied to space aircraft launching platform, driving space aircrafts from horizontal position to vertical position. Its performance directly determines the reliability, stability and rapidity of launching platform. Electric cylinder has the advantages of high environmental adaptability and high control accuracy, which is gradually used as the actuator in erection system. However, due to the large weight of aircraft, it is difficult to prevent the load from slipping while starting. In this paper, a robust controller is proposed for horizontal position heavy-load start control. Firstly, a control model of a high-power electric cylinder with multiple servo motors in parallel is put forward. After that, based on the backstepping method, in order to suppress the effect of parameter variation, a robust feedback term is designed. In addition, since the external disturbances of the system are difficult to measure, system disturbances are estimated using an extended state observer and incorporated into the controller through feedforward compensation. In the formulated nonlinear control process, parameter change error and noise interference are considered. The controller theoretically guarantees a stable starting process, which is expected to provide a safe and reliable control method for electric cylinder system.
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