电动舵机专家PID控制系统设计  

Design of expert PID control system for electric actuator

作　　者：李琦[1] 程向丽[1] 张猛[1] 李怀兵[1] 冯立墨 Li Qi;Cheng Xiangli;Zhang Meng;Li Huaibing;Feng Limo(Beijing Research Institute of Precise Mechanical and Electronic Control Equipment,Beijing 100076,China)

机构地区：[1]北京精密机电控制设备研究所,北京100076

出　　处：《电子测量技术》2020年第14期165-170,共6页Electronic Measurement Technology

摘　　要：针对电动舵机负载扰动大、非线性明显及技术要求高的特点,结合某导弹空气舵系统伺服控制需求,设计了一种基于专家PID控制的电动舵机系统。在分析舵机工作状态的基础上,设计了原理方案。根据舵机角度误差及其变化在线调节控制参数,同时提取电压、传动比等时变参数,对控制输出进行二次修正,提高系统的控制精度和响应速度。建立全系统数学模型并搭建样机测试环境,仿真和试验结果表明,本方案电动舵机系统具有良好的动、静态性能,可以有效抑制外部干扰对系统稳定性的影响,满足导弹伺服控制的需求。According to the characteristics of large load disturbance,obvious nonlinearity and high technical requirements of the electric actuator,an electric actuator system based on Expert PID control is designed according to the servo control requirements of a missile air rudder system.Based on the analysis of the working state of the actuator,the principle scheme is designed.According to the angle deviation and its change of the electric actuator,the control parameters are adjusted online,and the time-varying parameters such as voltage and transmission ratio are extracted to correct the control output,so as to improve the control accuracy and response speed of the system.The whole system mathematical model is established and the principle prototype test environment is built.The simulation and test results show that the electric actuator system has good dynamic and static performance,which can effectively suppress the influence of external interference on the system stability and meet the needs of missile servo control.

关 键 词：电动舵机 专家PID控制 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程]