电动舵机的非线性因素模糊PID控制

	电动舵机的非线性因素模糊PID控制
其他题名	Fuzzy PID control in Electric steering engine for nonlinear factor
	汪镇波
学位类型	硕士
导师	张跃
	2015
学位授予单位	中国科学院大学
学位专业	机械工程
关键词	非线性因素电动舵机模糊控制自适应 Dsp
摘要	电动舵机是飞行器控制系统中重要的组成部分，而舵机的性能决定飞行过程中的动静态性能。在飞行过程中，舵机系统的动静态特性受到摩擦和间隙等非线性因素干扰所制约，往往不能满足其性能指标要求。系统在换向的时候，因为有齿轮间隙的存在，因此会产生一个反向误差，这便会导致舵机系统的跟踪精度下降。而间隙又是机械结构中不可避免的现象，消除间隙则会增加机构复杂性及制造难度。本课题研究目的为针对某采用无刷直流电机的导弹电动舵机，通过控制算法层面将间隙对系统的干扰影响降到最低。为提高电动舵机系统在非线性因素干扰下的控制精度，本课题主要完成以下工作：本文根据模糊控制算法所具有对扰动不敏感、鲁棒性较强的特点，设计了基于模糊理论的PID控制器，实现电动舵机系统位置环跟踪。同时为了解决人工设定的模糊控制规则对系统影响大的问题，引入了自适应原理，提高控制精度以满足舵机性能指标要求。为验证该方法的可行性，本文用simulink仿真方法进行模型的搭建与仿真分析，对其算法进行验证，并与常规PID算法进行对比。仿真结果表明，与常规PID控制器相比，自适应模糊PID控制器的控制精度高、响应速度快、超调量小，同时降低了非线性因素干扰的影响。在硬件平台搭建方面，本文根据电动舵机系统的特点，选择以DSP为核心的基于CAN2.0和SCI的多总线控制系统，实现舵机系统的精准控制及数据实时准确传输。在控制算法实现方面，为简化程序设计，采用基于模型设计的方法，节省了大量设计时间。最后，硬件平台及软件环境准备完成后，分别用常规PID控制器、自适应模糊PID控制器对电动舵机进行了阶跃和正弦跟踪测试，从而验证控制策略的可行性，并作控制器的性能对比。
其他摘要	As an important part of aircraft control system, Steering gear decide the dynamic performance in the process of fly.Nonlinear factors such as friction and backlash is one of the important factors that affect the steering gear system dynamic and static performance. Due to the existence of the backlash, the system may produce reverse error when reversing, what will affect the tracking precision of servo system.But the backlash is a inevitable phenomenon in the mechanical structure, and eliminate the backlash will increase the complexity and difficulty.The purpose of this research is aimed at a certain missile electric steering gear which adopts brushless dc motor, reduce the interference of the backlash in the system to a minimum through control algorithm to a minimum.To improve the control accuracy of the electric steering gear system under the factor , this research mainly do the following: Based on the characteristics of fuzzy control algorithm that is not sensitive to disturbance and have strong robustness, design the fuzzy PID controller based on the theory of fuzzy, complete the position loop to track the implementation of electric steering gear system.At the same time in order to solve the big impact in the system that fuzzy control rules set artificial, introduce the adaptive principle to improve the control accuracy.To test and verify the feasibility of algorithm, set up the simulation model of the steering gear system based on the simulink platform structure, simulate the algorithm and compare with the conventional PID algorithm. Simulation results show that compared with the conventional PID controller, the adaptive fuzzy PID controller have high control precision, fast response, less overshoot, and reduce the influence of nonlinear factors interference. In terms of hardware platform, according to the characteristics of the electric steering gear system, this research choose the DSP as the core of multiple bus control system based on CAN2.0 and SCI, realize the accurate control and data real-time transmission of servo system. In the aspect of control algorithm, to simplify the programming, the method is based on model design which save a lot of design time. Finally, the hardware platform and software environment to complete, go on step and sine tracking test respectively with conventional PID controller and the adaptive fuzzy PID controller in electric steering gear after complete the hardware platform and software environment, to verify the feasibility of the control strategy and the performance of the controller.
语种	中文
文献类型	学位论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/49298
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	汪镇波. 电动舵机的非线性因素模糊PID控制[D]. 中国科学院大学,2015.

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