Reach On The Parameter Auto-tuning Of The Electric Acruator With Stepping Motor And Its Trajectory Control

The position control of the electric actuator is widely used in the production. When using the electric actuator equipped with stepping motor for positioning control, the control accuracy and response curve of the position system will change because of the change of the working load. This phenomenon is due to the characteristics of the stepping motor. As a kind of motor which is the most widely used, the two-phase hybrid stepping motor will lose steps when the working load is too large. Under the same load mass, the two-phase hybrid stepping motor may not start normally when it is at high speed. To improve the control effect of the electric actuator with stepping motor, it’s necessary to study deeply on the characteristics of stepping motor and to determine the control parameters of the actuator. If the fixed control parameters is still adopt, the actuator can’t deal with the severe working environment.In the article, firstly, the development history of electric actuator and its advantages and disadvantages compared to pneumatic actuator are introduced. The research from the domestic and foreign on the control parameters auto-tuning method is studied. The theoretical method and the research status of the interpolation trajectory planning is summarized.Then, the basic knowledge of stepper motor which is the core part of electric actuator is introduced, consisting of its classification, working principle and basic characteristics and so on. The driving technology of the stepping motor is analyzed. The mathematical model of the two phase hybrid stepping motor is pulled, which is precise and simple. The Simulink simulation model, based on the mathematical model of stepping motor, is connected. Related simulation analysis of the electric actuator simulation and the experiment of open-loop control for electric actuator is carried out.Subsequently, in the article, the principle of position closed-loop control for electric actuator is studied. The experimental platform of position closed-loop control for electric actuator is established. The control algorithm and implementation of the position closed-loop control are given. Finally, a large number of experiment, under different operating conditions, is carried out.Based on the experiment of the position of the electric actuator, the theoretical of the model reference adaptive control is studied. The experimental principle and control algorithm for the control parameters auto-tuning control of the actuator are presented.Then, the feedback control of speed states is built which is based on the closed-loop control of the position of the actuator. Control parameters auto-tuning control is competed, and the related experiments are carried out and analyzed.Finally, the linear interpolation trajectory planning for typical curves is carried out through the related theory of linear interpolation. The experiment of trajectory tracking control for biaxial-actuator is carried out, which is based on the control parameters auto-tuning scheme on electric actuator.