Based On The Embedded Digital Missile Steering Gear Servo Control System Research And Development

Analogue rudder controller has been used widely in China at present. Although control performance of the analogue controller is smooth and continuous, it has flaws such as complex structure, big volume, the temperature sensitivity, poor reliability and so on. In order to overcome the flaws of analog controllers, the missile actuator servo control system was deeply studied, and the current research situation and future development trends were analyzed. Based on the understanding of electric actuator control method, combined the digital control technology and the embedded operating system technology to realize the digital missile rudder servo system based on embedded operating system.According to electrical characteristics of the missile electric actuator, the position-speed multiplex control strategy was adopted in the servo system. The speed loop control strategy was designed, which adopted resistance integral saturation PI control control strategy, and in order to accurately calculate the feedback speed value, a speed estimation method based on the speed observer was used in the control strategy. The position loop adopted variable structure control method, according to the value of the position deviation, full speed control, fuzzy control and incomplete differential PID were adopted in the position loop. Ultimately the fast and high precision location of rudder-face was realized. In the hardware system design, the 16-bit digital singner controller dsPIC30F5011 was used as the core of the controller, the main circuit used IR's integrated driver chips IR2101, accompanied by H-bridge driver circuit to complete the effective control of the actuator system. The hardware system was designed including microcontroller system design, signal sampling/converting circuit design, driving circuit design, power system design, and hardware anti-interference design. In the servo system software design, in order to ensure real-time performance and reliability of the servo system, embedded operating systemμC/OS-Ⅱwas chosen for the application software platform. The transplantation ofμC/OS-Ⅱand the partition and allocation of the tasks were described. Implementation of Servo control algorithm based on DSC, and software anti-interference design were finshed in this paper. Through testing and optimization in a special missile steering test system, the high positioning accuracy and well static and dynamic performances are validated by lots of experiments. The test results show that this digtal control system of missile rudder servo system is reliable and feasible, and also proved to have much value in application.