Research On Servo Control Technology Of Large Inertia Electromechanical Actuator System

Large inertia electromechanical actuation systems are commonly applied to largeload weapon systems.When they operate in large load torque changes condition,traditional servo control methods are difficult to ensure tracking accuracy and dynamic performance under large load shocks.Therefore,in order to improve the anti-disturbance performance of the system,a first-order LADRC with parameter identification and compensation function is designed.The work and characteristics of this thesis are as the following:Firstly,on the premise that the load torque of the system is regarded as a constant value,a servo controller based on traditional PID technology and a servo controller based on first-order linear active disturbance rejection technology are designed respectively,and their performances are compared in simulated experiment.The result shows that the designed first-order LADRC controller has stronger anti-interference ability than the traditional controller? Secondly,as to the problem that the large inertia electr Zomechanical actuation system is difficult to control under the condition where the load torque varies greatly,this thesis applies two anti-disturbance methods based on on the identification of the moment of inertia and the observation of the load torque respectively,designing a load torque observer based on integral sliding mode to obtain the load torque of the system constantly and carry out a simulation verification.The result shows that the designed parameter identification method has better tracking accuracy and dynamic performance? Finally,based on the first-order LADRC,the rotational inertia identification and load torque observation function are introduced into its speed loop controller,aiming to identify and observe the rotational inertia and load torque of the system so as to feed them back to the system in the form of feed-forward compensation,and the simulation verification is carried out.The result shows that the controller has better anti-disturbance ability than the first-order LADRC,and meets the performance requirements of the large inertia electromechanical actuation system for the servo control system.The designed controllers have good theoretical and engineering application value,and can provide reference for the design of anti-disturbance controllers.