电动舵机的建模与控制研究(参)

关键词：电动舵机，无刷直流电机，PID 控制，超前滞后控制，动态仿真
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本科生毕业论文 ABSTRACT
The function of actuator is to drive the rudder to control the missile attitude.
With the upgrade of the missile’s performances, integral demand of the actuator system is becoming higher and higher. These demands include volume and weight of the actuator, carrying capability and controlling performance. Based on the brushless DC motor (BLDCM) missile actuator system has the advantages of small volume, light weight, large output torque, easy maintenance and gradually become the main development direction. The electric power steering system structure and the principle of work are analyzed, each part of the system are modeled respectively to establish a complete mathematical model of the system, the system is studied through the analysis of the static error, adjust time, maximum overshoot and other performance indicators by means of MATLAB simulation. The paper mainly reflected in the following aspects: Understanding the principle of the steering, research status at home and abroad, and the composition of the electric power steering system and principle of work. A thorough understanding of electric actuator in various parts of the structure and the principle of work, to grasp it’s the method to establish the mathematical model and simulation structure transfer function simulation model. Because nonlinear factor, such as friction, has a severe impact on the servo control performance, the friction nonlinear Stribeck model is joined in the model to analyze the nonlinear factor influences. The performance of the Servo loop control directly influences the missile flight dynamic quality. Steering gear control law realization is mainly divided into analog and digital methods, Along with the rapid development of microprocessor technology, digital technology has become a servo system with a direction. In this thesis, the servo control law is designed using classical PID control method .the lead and lag two control algorithms and control parameter are discussed. At the end the two control laws are compared and analyzed. Keywords: electric actuator, brushless DC motor, PID control, lead-lag control, dynamic simulation
本科生毕业论文
摘要
舵机在导弹中的作用为驱动舵面偏转以控制导弹的飞行姿态和航迹。随 着导弹性能要求的不断提高，对舵机系统的要求也越来越高，包括对舵机体积、 重量、承载能力，以及对控制性能的要求。基于无刷直流电机（BLDCM）的导弹 舵机系统具有体积小、重量轻、输出力矩大、易维护等优点，逐步成为电动舵机 发展的主要方向。 论文分析了电动舵机的系统结构和工作原理， 并对系统各组成部分分别进行 了数学建模， 建立了完整的舵机系统数学模型， 利用 MATLAB 进行了动态仿真， 通过分析系统的静态误差， 调节时间， 超调量等性能指标来分析系统的动态性能。 论文的主要工作体现在以下几个方面： 了解舵机的工作原理和国内外研究现状， 并对电动舵机的系统组成和工作原 理进行了研究。 深入了解电动舵机各部分的结构与工作原理， 掌握其建立数学模型的方法并 构造传递函数仿真模型。 由于摩擦等非线性环节的存在严重影响舵机的控制性能， 论文中考虑了非线 性因素的影响，在模型中加入了非线性环节，并对摩擦非线性采用 stribeck 模型 进行了重点分析。 舵机回路控制性能的好坏直接影响导弹的飞行动态品质。 舵机控制律的实现 主要分为模拟和数字控制两种方法，随着微处理器技术的飞速发展，数字化已成 本文中对舵机的控制律设计采用经典的 PID 控制和滞后 为伺服系统的一个方向。 超前控制两种控制方法并获得其控制律参数。 分析了舵机系统在两种控制律下的 动态性能。最后对两种控制律进行了分析比较。
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本科生毕业论文目录 Nhomakorabea第一章 绪论................................................... 1 1.1 研究背景.................................................................................................. 1 1.2 电动舵机舵机的国内外研究现状.......................................................... 3 1.3 控制算法设计.......................................................................................... 5 1.4 论文主要工作.......................................................................................... 7 第二章 无刷直流电动舵机的系统结构与建模 ........................ 8 2.1 引言.......................................................................................................... 8 2.2 电动舵机系统结构组成与原理.............................................................. 9 2.2.1 电动舵机的系统组成 ................................. 9 2.2.2 电动舵机的原理..................................... 9 2.3 直流无刷电机及其模型........................................................................ 10 2.3.1 无刷直流电机本体结构.............................. 10 2.3.2 功率驱动电路...................................... 11 2.3.3 无刷直流电机工作原理.............................. 12 2.3.4 无刷直流电机数学模型.............................. 13 2.3.5 无刷直流电机传递函数模型.......................... 16 2.4 非线性环节............................................................................................ 18 2.4.1 摩擦非线性及 Stribeck 摩擦模型..................... 18 2.4.2 间隙非线性........................................ 20 2.4.3 饱和限幅非线性.................................... 20 2.5 PWM 驱动器 ....................................................................................... 20 2.6 减速器.................................................................................................... 23 2.7 反馈电位器............................................................................................ 24 2.8 舵机系统模型........................................................................................ 25 第三章 控制器的设计与仿真 .................................... 27 3.1 控制系统分析........................................................................................ 27 3.2 PID 控制器设计 .................................................................................. 31 3.2.1 PID 控制器介绍 .................................... 31 3.2.2 3.2.3 PID 控制器参数整定方法 ........................... 33 PID 控制系统仿真与结果分析 ....................... 35