基于ESO的运载火箭电动舵机位置伺服系统滑模控制

Sliding Mode Control of Electric Steering Gear Position Servo System of Launch Vehicle Based on ESO

舵机伺服系统是运载火箭控制系统的核心组成部分之一,在火箭运行过程中需要具备快速的动态响应以及抗干扰能力。针对永磁同步电动舵机位置伺服系统提出了一种新型的滑模控制方法,并设计了一个扩张状态观测器(ESO)用于估计并补偿未知的干扰。该方法不仅可以实现快速的动态响应,还能有效的减小控制输入的抖振。为了验证所提方法的优越性,通过仿真与基于比例-积分的传统三闭环控制方法进行了对比研究。结果表明,所提出的方法具有更好的位置响应与干扰抑制性能。

Steering gear servo system is one of the core components of launch vehicle control system,which needs to have fast dynamic response and anti-interference ability in the process of rocket operation.In this paper,a novel sliding-mode control method is proposed for permanent magnet synchronous electric steering gear position servo system,and an extended state observer(ESO)is designed to estimate and compensate the unknown disturbances.This method can not only achieve fast dynamic response,but also reduce the chattering of control input effectively.In order to validate the advantage of the proposed method,comparative study with the traditional proportional-integral(PI)based triple-loop control method is conducted via simulation.The results show that the proposed method has better position response and disturbance rejection performance.