Arm-based Steering Gear Control Study

The paper introducing the basic pricinples of loitering munition rudder system firstly,then,represents the whole sheme of a kind of oitering munition rudder controller,which base on LPC2136 andμC/OS-Ⅱ,make it can adjust 3 rudders with one microcontroller.In the paper,the principle of BLDCM is presented in brief,and several classic control strategies for BLDCM is analyzed.On the basis of other research results in the field of actuator controller, this paper introduced a design of a new electromechanical actuator controller based on the principle of pulse-width-modulation (PWM).It explains the construct source of the whole system with the kernel of LPC2136, and makes full analysis to all parts of the system , After explains the design of over sheme,the paper give lots of details about the design of hardware and software of the system,hardware design include LPC2136 control circuit,electromotor's drive and information processing circuit,power supply circuit. and designs CPLD control logic,and gets the wave form by simulation based on ISE。The software designs of the electrical servo system are completed after the hardware designs are presented in details. It describes the startup code and diagram of LPC2136,transplantation embedded operation systemμC/OS-Ⅱon LPC2136, the partition and allocation of the tasks, the function flowing of each task in detail.The system adopts the classic three-loop control method, its uses improved classic PID arithmetic in the speed loop and current loop, it uses PID with its parameters are self-modified by fuzzy arithmetic in the position loop to overcomes the difficulties in the tuning of parameters.