考虑摩擦的电动舵机控制问题研究

Dynamic Modeling and Analysis of Steering Gear System Considering Friction

导弹电动舵机系统是一种复杂的传动系统,其关节处存在的摩擦效应会导致系统输出出现运动不平稳、输出波形畸变等现象,严重影响舵面控制精度。针对考虑摩擦的舵机系统控制问题进行研究。首先,基于系统约束关系和动量定理,给出一种基于关节坐标的建模方法。然后,基于对系统摩擦的分析,将关节摩擦力分解常数项,线性时变项和非线性时变项,并根据自抗扰方法设计舵机系统运动控制。数值实验结果表明该文章设计的控制器具有较好的控制性能。

The missile electric steering gear system is a complicated transmission system.The friction effect at the joints of the system will lead to the instability of the output motion and the distortion of the output waveform,which will seriously affect the control accuracy of the rudder surface.The control problem of steering gear system considering friction was studied in this paper.Firstly,based on the system constraint relation and momentum theorem,a modeling method based on joint coordinates was presented.Then,based on the analysis of the friction of the system,the joint friction was decomposed into constant terms,linear time varying terms and nonlinear time varying terms,and the motion control of the steering gear system was designed according to the active disturbance rejection method.The numerical results show that the controller designed in this paper has better control performance.