论文部分内容阅读
针对目前常用电动舵机的结构和电机驱动控制方式,建立了电动舵机系统和驱动器的数学模型。PID控制是舵机系统控制中应用最广泛的控制算法,针对该控制算法研究了电机转速饱和对舵机系统的性能影响。当舵机系统跟踪大幅值信号时,由于电机转速饱和,舵机系统跟踪信号的相位滞后将增大,舵机系统的线性模型不再适用,对滚转弹的控制将带来不利影响。研究结论对滚转弹电动舵机系统指标的确定具有重要意义。
In view of the current structure of electric servo and the control method of motor drive, the mathematical model of electric servo system and driver is established. PID control is the most widely used control algorithm in the control system of steering gear. According to this control algorithm, the influence of saturation of motor speed on the performance of steering gear system is studied. When the servo system tracks the large amplitude signal, the phase lag of the servo system tracking signal will increase due to the saturation of the motor speed. The linear model of the servo system will no longer be suitable, which will adversely affect the control of the rolling bomb. The conclusion of the study is of great significance to the determination of the index of the rolling-rotor electro-dynamic servo system.