基于FA-PID算法的电动舵机多非线性系统研究

Multi nonlinear of EMA system based on FA-PID algorithm

针对制导炮弹电动舵机常规建模时常将各部分视为线性环节,且采用传统三闭环PID算法无法解决复杂非线性系统的高频响、低超调等问题。本研究充分考虑了舵机系统内部的电机、死区齿隙与LuGre摩擦等非线性环节,搭建了电动舵机的多非线性控制系统,根据舵偏角运动方向的非单一性,设计了电机的正反转逻辑换相判别模块,并在电动舵机的位置环中引入了模糊自适应PID(FA-PID)智能算法。结果表明:采用FA-PID算法相比于传统PID控制对小角度位置响应的延迟时间下降了约0.49%,上升时间下降了约6.91%,峰值时间下降了约39.94%,稳态误差下降了约94.44%,且进一步通过小角度方波/正弦位置跟踪研究同样可以得出该算法的快速性与鲁棒性。

In view of the conventional modeling for EMA(Electromechanical Actuator)of GP(Guided Projectile)often regards each part as a linear link,and the traditional three-closed-loop PID(Proportional Integral Derivative)algorithm cannot solve the problems of high frequency response and low overshoot in complex nonlinear system.In this study,the nonlinear links such as BLDCM(Brushless Direct Current Motor),dead zone backlash and LuGre friction inside EMA system were fully considered,and the EMA multi nonlinear control system was built.According to the non-uniformity of EMA motion direction,the commutation discrimination module of BLDCM was designed.And the FA(Fuzzy Adaptive)PID intelligent algorithm was applied in APR(Automatic Position Regulator)of EMA three loop control system.The results show that the delay time,rise time,peak time and steady-state error of small angle position response decreased by about 0.49%,6.91%,39.94%,and 94.44%respectively,compared with the traditional PID control.And further research on small angle square/sine position response tracking can also demonstrate the rapidity and robustness performance of the FA-PID algorithm.