Research On Algorithm And Performance Of EMA Servo Drive Control System

EMA is a kind of position servo control system driven by motor.Compared to the traditional hydraulic actuator,EMA is more efficient,more reliable,easier to maintain and smaller in size,which is being increasingly used in the aerospace field.Both fast servo response performance and strong anti-jamming performance of the EMA are very valuable for the aircraft and spacecraft.In this thesis,the servo control algorithm is optimized to improve the two important servo performance.Ultimately,an EMA servo drive control system with passable performance is implemented.Firstly,the preliminary design of an EMA servo system is carried out.The system model based on the three closed-loop PID control is established.For shortcomings of traditional PID control,the voltage feed-forward decoupling control algorithm and the auto-disturbance rejection control(ADRC)algorithm are used to optimize the system so that the servo response speed and anti-jamming ability of EMA are improved.The effectiveness of algorithm is verified by simulation tests.Afterwards,the power circuit of the system around the IPM module as well as the control circuit of the system around DSP is designed.Thus,the hardware platform of EMA servo drive control system is completed.Based on the hardware platform and the application requirements of EMA,a set of embedded software system based on DSP is programmed so that the design of the whole EMA servo drive control system is accomplished.Finally,the rationality of the whole EMA servo drive control system is validated through the system performance tests.