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根据谐波式电动舵机工作原理,推导了其数学模型;并针对谐波式电动舵机的特殊结构,在建模时充分考虑了摩擦和间隙非线性对舵机系统性能的影响。针对舵系统中存在的非线性问题,提出了一种滑模控制(SMC)算法;进一步为了解决滑模控制固有的抖阵问题,采用边界层与低通滤波器技术共同消除控制量的抖阵,并仿真验证了该算法的有效性。最终,采用数字芯片FPGA实现了该控制算法,并加以实验验证。实验结果表明:与传统比例积分微分(PID)控制相比,基于滑模变结构控制的电动舵机的抗干扰和鲁棒性等有较大改善;且在偏转小角度时,由摩擦和间隙非线性导致的空回和时间延迟问题也得到了较好的抑制。
According to the working principle of the harmonic electric servo, the mathematical model is deduced. Aiming at the special structure of the harmonic electric servo, the influences of the friction and the gap nonlinearity on the performance of the steering gear system are fully considered. Aiming at the nonlinear problem existing in rudder system, a sliding mode control (SMC) algorithm is proposed. In order to solve the inherent dithering problem of sliding mode control, boundary layer and low-pass filter are used to eliminate the control volume , And simulation shows the effectiveness of the algorithm. Finally, this control algorithm is implemented with digital chip FPGA and verified experimentally. Experimental results show that anti-jamming and robustness of the electro-mechanical servo based on sliding mode variable structure control are greatly improved compared with traditional proportional integral-derivative (PID) control. In the case of small angle deflection, friction and clearance Non-linear caused by the empty back and the time delay problem has also been better suppressed.