Research On Control Strategy Of Electro - Mechanical System Of Super - Torus

Toroidal electromechanical transmission is a new type of transmission mode which integrates the characteristics of magnetic synchronous motor and toroidal drive. It realizes the combination of the power device and the reducing mechanism, and simplifies the mechanical and electrical transmission system, which makes it potential applications in the aerospace and other occasions with high requirements for space utilization. In this paper, the structure characteristics, working principle, parameter analysis and optimization, control system design and experiment of prototype control are studied.Based on the special structure of toroidal electromechanical transmission, the force analysis of the permanent magnets on the planet wheels is carried out, and the mathematical model with hybrid excitation characteristics of toroidal electromechanical transmission is obtained. Several main mechanical parameters and electromagnetic parameters are analyzed by using the control variable method, and the influence laws are obtained. The response characteristics of the system are analyzed based on the optimized parameters. In conclusion, the improvement of the system response is limited by optimizing the parameters. It is necessary to introduce the controller to improve the response of the system.PI controller is introduced, and the analytical solutions of the controller parameters are obtained by using the root locus method in the classical control theory. In order to improve the anti-interference ability of the system, PID control system is designed based on ITAE criterion, and the inhibition ability of the closed-loop control system is analyzed.The parameters of traditional PID controller are not easy to change after setting. Aiming at this problem, the fuzzy control rules are formulated based on the control theory and the experience, and what’s more, a PID self-tuning control system is designed based on the fuzzy rules, which realizes the on-line automatic adjustment of the controller parameters, and the robustness of the system is enhanced.A experimental platform is built by using the prototype of toroidal electromechanical transmission and the motor test system. The closed-loop control experiment of the prototype is carried out to verify the correctness of the theoretical research, which provides theoretical guidance for the practical application of toroidal electromechanical transmission.