Research Of The Medium And High Power EMA Servo Control Technology And Dynamic Performance

In the aerospace field, EMA is the key implementing agency of control systems. It is generally required to have features of faster response and higher reliability. Therefore, this system selects the permanent-magnet synchronous motors to replace the traditional brush motors, and the all-digital-control way is used in the design of controllers. The all-digital servo system based on digital signal processors can implement a variety of intelligent control algorithms and advanced control strategies; it has become the developing trend of servo systems. The purpose of this paper is to design a set of all-digital EMA servo drives to control Permanent-magnet servo motors and thus to be applied in space systems. In addition, the topic also includes researches about control strategies and dynamic properties of systems.First of all, the paper introduces the development status of EMA servo system and the development of other related fields; the mathematical models of permanent-magnet synchronous motors have been built; based on the models the rotor-flux-oriented vector control theory and the SVPWM technique also have been detailed analyzed and derived. Secondly, the low-speed-uncontrollable problem of actual systems and the disturbance factors are analyzed in this paper. And a Kalman observer which observes the actual speed and load torque actually in real-time has been designed on the base of the system model. Then, the current loop, speed loop and position loop of the systems have been analyzed and then regulators of the systems are designed. On the basis above, in order to overcome the disadvantages of inadequate anti-interference of the system, load torque feed-forward correction link has been designed according to the values of the load torque observer and it also improves the dynamic properties of the system. Then, the software and hardware of the system can been designed according to structures of the all-digital servo system. Finally, the designs of system software and hardware and the methods of improving control strategies will be experimental tested.The results of the experiments show that: the speed control of the systems is precise; the systems runs stability in the ultra-low-speed; and the system has a good anti-interference property.