Modeling And Observer Based Compensation Control Of For Ballscrew Steering Gear Systems

Under the application background of aviation guided bomb's electric steering gear system control,this paper designs a ball screw electric steering gear system,develop its mathematical model and make simulations.Based on conventional robust control theory and advanced sliding mode theory,the robust observer based compensation and sliding mode observer based compensation control of steering gear system is studied considering effects on stability and performance originated from possible model parameter uncertainties and external disturbances.The main work of this article includes the following aspects:1.Under the application background of aviation guided bomb's steering gear system control,a type of ball screw type electric steering gear system,including steering gear speed reducing transmission mechanism,permanent magnet direct current servo electric machine,feedback potentiometer and so on,is designed according to the expected technical requirements;.2.The experimental prototype of the steering gear system is briefly analyzed.Subsequently,the mathematical models the whole steering gear system are established,and transfer functions about different parts of the steering gear are derived,which are connected in series to form the whole mathematical model.Nominal controller is developed via incomplete differential PID algorithm.Dynamic and static properties of control system is tested through simulations to verify the satisfying performance of control system;3.Robust observer based compensation control on the steering gear system is derived based on relevant robust control theory.Research on uncertain properties and parameter sensitivity leads to a conclusion of different parameters' bad influence on system stability.By comparing simulation results under different styles of input signals and loads,the efficiency of robust observer based compensation control method is validated.Nevertheless,the slow rate of convergence and severe chattering phenomenon during dynamic response process indicate that some improvements should be made for higher worthy of application;4.To overcome the shortcomings of robust compensation control,sliding mode observer based compensation control is researched.The traditional steering gear system is reduced to two-order analytical control-oriented model through analysis in time and frequency domains.Finite-time convergent chained-form sliding mode observers is developed for the precise and quick estimation of steering gear's system uncertainties.Good performance of the proposed sliding mode observer based compensation control algorithms is validated through simulations.