电动舵机的非线性因素模糊PID控制

发布时间：2018-03-03 17:49

本文选题：非线性因素　切入点：电动舵机　出处：《中国科学院研究生院(长春光学精密机械与物理研究所)》2015年硕士论文　论文类型：学位论文

【摘要】：电动舵机是飞行器控制系统中重要的组成部分,而舵机的性能决定飞行过程中的动静态性能。在飞行过程中,舵机系统的动静态特性受到摩擦和间隙等非线性因素干扰所制约,往往不能满足其性能指标要求。系统在换向的时候,因为有齿轮间隙的存在,因此会产生一个反向误差,这便会导致舵机系统的跟踪精度下降。而间隙又是机械结构中不可避免的现象,消除间隙则会增加机构复杂性及制造难度。本课题研究目的为针对某采用无刷直流电机的导弹电动舵机,通过控制算法层面将间隙对系统的干扰影响降到最低。为提高电动舵机系统在非线性因素干扰下的控制精度,本课题主要完成以下工作:本文根据模糊控制算法所具有对扰动不敏感、鲁棒性较强的特点,设计了基于模糊理论的PID控制器,实现电动舵机系统位置环跟踪。同时为了解决人工设定的模糊控制规则对系统影响大的问题,引入了自适应原理,提高控制精度以满足舵机性能指标要求。为验证该方法的可行性,本文用simulink仿真方法进行模型的搭建与仿真分析,对其算法进行验证,并与常规PID算法进行对比。仿真结果表明,与常规PID控制器相比,自适应模糊PID控制器的控制精度高、响应速度快、超调量小,同时降低了非线性因素干扰的影响。在硬件平台搭建方面,本文根据电动舵机系统的特点,选择以DSP为核心的基于CAN2.0和SCI的多总线控制系统,实现舵机系统的精准控制及数据实时准确传输。在控制算法实现方面,为简化程序设计,采用基于模型设计的方法,节省了大量设计时间。最后,硬件平台及软件环境准备完成后,分别用常规PID控制器、自适应模糊PID控制器对电动舵机进行了阶跃和正弦跟踪测试,从而验证控制策略的可行性,并作控制器的性能对比。
[Abstract]:Electric steering gear is an important part of the aircraft control system, and the performance of the steering gear determines the dynamic and static performance during flight. During the flight, the dynamic and static characteristics of the steering gear system are restricted by nonlinear factors such as friction and clearance. It is often not able to meet its performance requirements. When the system commutates, because of the existence of gear clearance, there will be a reverse error. This will lead to a decrease in the tracking accuracy of the steering gear system, and the clearance is an inevitable phenomenon in the mechanical structure. Eliminating the clearance will increase the complexity of the mechanism and the manufacturing difficulty. The purpose of this paper is to study the electric steering gear of a missile with a brushless DC motor. In order to improve the control accuracy of the electric steering gear system under the nonlinear disturbance, the influence of the gap on the system is minimized by the control algorithm. The main work of this thesis is as follows: according to the characteristic of fuzzy control algorithm which is insensitive to disturbance and strong robustness, a PID controller based on fuzzy theory is designed. The position loop tracking of electric steering gear system is realized. In order to solve the problem that the artificial fuzzy control rules have great influence on the system, the adaptive principle is introduced. In order to improve the control precision to meet the requirements of the steering gear performance index, in order to verify the feasibility of the method, the simulink simulation method is used to build the model and the simulation analysis, and the algorithm is verified. Compared with the conventional PID algorithm, the simulation results show that the adaptive fuzzy PID controller has higher control accuracy, faster response speed and less overshoot than the conventional PID controller. At the same time, the influence of nonlinear factors is reduced. According to the characteristics of electric steering gear system, the multi-bus control system based on CAN2.0 and SCI with DSP as the core is selected in this paper. In order to simplify the program design, the method of model-based design is used to save a lot of design time. After the preparation of hardware platform and software environment, conventional PID controller and adaptive fuzzy PID controller are used to test the step and sinusoidal tracking of the electric steering gear, which verifies the feasibility of the control strategy and makes the performance comparison of the controller.
【学位授予单位】：中国科学院研究生院(长春光学精密机械与物理研究所)
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249.1

【相似文献】