基于分数阶控制的电动舵机伺服系统研究  

Design of Fractional Order Controller for Servo Systems of Electro-mechanical Actuator

作　　者：韩迪[1] 王剑[1] 余永平[2] 谢蓉[1] 王新民[1] HAN Di WANG Jian YU Yongping XIE Rong WANG Xinmin(School of Automation, Northwestern Polytechnical University, Xi＇an 710129, China Nanjing Engineering Institute of Aircraft Systems, Jingcheng AVIC , Nanjing 211100, China)

机构地区：[1]西北工业大学自动化学院,西安710129 [2]中航工业金城南京机电液压工程研究中心,南京211100

出　　处：《微电机》2017年第6期38-43,共6页Micromotors

基　　金：航空基金(20152853029);总装基金(91xxxxxx43)

摘　　要：介绍了一种位置、电流双闭环无人机电动舵机伺服系统的组成和工作原理,针对电动舵机伺服系统跟踪精度要求高、响应快的特点,提出了一种分数阶控制策略。在电动舵机伺服系统的饱和非线性模型上设计了一种分数阶PIλDμ控制器,提高了系统带宽。比较分析了设计的控制策略与传统整数阶PID控制器对于伺服跟踪的控制效果。仿真结果表明,采用提出的方法能提高电动舵机响应时间和系统带宽,有效跟踪输入信号,为高性能无人机电动舵机伺服系统控制策略设计提供了一种新途径。This paper proposed a modified fractional-order controller for servo systems of electro-mechanical actuators, where the systems have a high tracking speed and a strong sensitiveness to signal noise. In the saturation nonlinear models of such servo systems, the controlled quantity was computed by a PID controller using fractional-order algorithm, which could also increase the system bandwidth. Furthermore, this paper compared the control effects in servo tracking of the proposed control method and the traditional integer PID.Simulation results indicate that the proposed method can increase the response speed and system bandwidth of the system, and effectively track the input signals. The fractional-order control method could offer a new way to design the servomachnical control strategy for high-performance electro-mechanical actuator in UAV.

关 键 词：电动舵机 伺服系统 分数阶控制 PID控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]