摘要
针对目前普遍电动舵机的结构和电机驱动控制方式，建立了电动舵机系统和驱动器的数学模型。PID控制是舵机系统控制中应用最广泛的控制算法。针对该控制算法研究了电机转速饱和对舵机系统的性能影响。当舵机系统跟踪大幅值信号时，电机转速饱和，舵机系统跟踪信号的相位滞后将增大，舵机系统的线性模型将不再适用。这对滚转弹的控制将带来不利影响。研究结论对滚转弹电动舵机系统指标的确定具有重要意义。
The mathematic models of actuator and electromotor driver are established. PID is applied in engineering wide- ly. The performances of the actuators influenced by saturation rotational speed are analyzed, when the actuators track com- mands of big numerical value, the lag Phase would increase due to saturated electromotor speed. The linear mode of actua- tor is incorrect in this moment. It would affect the control precision of spinning missile. The analytical results can be used as the reference to the selection of the roll angular velocity and the design of an actuator.
关键词
电机
舵机性能
饱和
electromotor
performance of servo
saturation
