高动态电动舵机的研究

发布时间：2018-05-17 05:14

本文选题：高动态 + 电动舵机　；参考：《南昌航空大学》2017年硕士论文

【摘要】：高动态电动舵机控制系统是一种较为复杂的伺服系统,在控制性能要求上较高,特别是对位置控制精度的要求更为严格,高动态电动舵机不仅在位置控制精度上要高,对舵系统的快速性能也同样重要。本文根据舵系统的性能要求以及其自身特点,设计了一套完整的舵控制系统,并对该控制系统进行了研究。首先介绍了舵系统的组成结构及其工作原理,根据各组成部分的工作原理,建立了相应的数学模型,依据舵系统的工作过程,通过MATLAB\SIMULINK平台进行模型搭建,为后面不同控制器下舵系统控制研究奠定基础。课题中详细介绍了无刷直流电机的组成与工作原理,无刷直流电机是继有刷直流电机后的一种新型的永磁直流电机,对于永磁无刷直流电机抛弃了守旧的有接触换向的理念,而是通过位置传感器与电子换向器来实现这种无接触换向的,这种无接触换向给系统的性能有很大的提高,并且还有调速性能、控制性能好、转动力矩大、调速范围宽、效率高、运行平稳等特点。本文重点分析了在两种不同控制器下舵系统响应速度与跟踪效果。首先介绍了传统的PID控制,这种控制方法的优点是原理简单、使用方便,且这种方法相对来说比较成熟,在控制精度要求不是很高的系统中应用较为广泛,缺点是受外界干扰及被控对象参数变化影响较大;根据PID控制可以发现其性能上存在不足之处,从而设计了另一种控制器,即滑模变结构控制,这种控制器对外界干扰及被控对象参数变化影响较小,所以有效的解决了舵系统的抖动问题,但是这也是在理论的情况下才可以实现,其实滑模变结构控制也有其不足之处,由于其自身的性质的原因也会出现抖振的情况,在本文中做了详细的介绍。在硬件的设计上,本文所使用的是TI公司生产的DSP-TMS320F2812芯片作为控制器核心,其中,硬件设计部分包括:驱动电路、三相逆变电路、光电隔离电路、通信接口电路等。通过对硬件的调试,观察PID控制器与滑模变结构控制器下舵系统的性能。
[Abstract]:The control system of high dynamic electric steering gear is a kind of more complex servo system, which requires higher control performance, especially more strict requirements for position control precision. The high dynamic electric steering gear is not only high in position control accuracy, It is also important for the rapid performance of the rudder system. According to the performance requirements of the rudder system and its own characteristics, a complete rudder control system is designed in this paper, and the control system is studied. Firstly, the structure and working principle of the rudder system are introduced. According to the working principle of each component, the corresponding mathematical model is established. According to the working process of the rudder system, the model is built on the platform of MATLAB\ SIMULINK. It lays a foundation for the research of rudder system control under different controllers. The composition and working principle of brushless DC motor are introduced in detail. Brushless DC motor is a new type of permanent magnet DC motor after brushless DC motor. Instead, the contactless commutator is realized by the position sensor and the electronic commutator. The performance of the contactless commutator system has been greatly improved, and there is also the speed-regulating performance, good control performance, large rotational torque, and wide speed range. High efficiency, smooth operation and other characteristics. In this paper, the response speed and tracking effect of the rudder system under two different controllers are analyzed. Firstly, the traditional PID control is introduced. The advantages of this control method are simple principle, convenient use, and this method is relatively mature, and is widely used in the system with low control precision. The drawback is that it is greatly affected by the external disturbance and the parameters of the controlled object. According to the PID control, it can be found that there are some shortcomings in its performance, so another kind of controller, sliding mode variable structure control, is designed. The controller has little influence on the external disturbance and the parameter change of the controlled object, so it solves the jitter problem of the rudder system effectively, but it can only be realized under the condition of theory. In fact, the sliding mode variable structure control also has its shortcomings. Because of its own properties, buffeting will also occur in this paper. In the design of hardware, the DSP-TMS320F2812 chip produced by TI Company is used as the core of the controller. The hardware design includes driving circuit, three-phase inverter circuit, photoelectric isolation circuit, communication interface circuit and so on. By debugging the hardware, the performance of the rudder system under PID controller and sliding mode variable structure controller is observed.
【学位授予单位】：南昌航空大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

【参考文献】