Development Of Control System Of Electromechanical Actuaror Based On DSP

Electro mechanical actuator(EMA)is a system that converts electrical energy into mechanical energy.It integrates servo motor,precision transmission device,brake,encoder,driver,etc.into a system,and is widely used in aircraft,rocket,robot,automobile,ship and other fields.Electromechanical actuator is the core unit of electromechanical system,which directly determines the performance of the whole machine,while the performance of EMA mainly depends on its control system.Therefore,this paper focuses on the control system of the electromechanical actuator,the main research contents are as follows:(1)This paper analyzes the drive control method and its mathematical model of permanent magnet synchronous motor,discusses the influence and error model of harmonic reducer in the whole system,studies the closed-loop control strategy of the system,establishes the mathematical simulation model of the electromechanical actuator in Matlab / Simulink,and provides the basis for the research of the highprecision control strategy of the actuator.(2)Based on the established EMA model,the traditional PID control and sliding mode control are used to model and simulate the speed loop.The results show that using the sliding mode controller can improve the speed control accuracy of the output,increase the response speed and suppress jitter.The disturbance compensation strategy based on the analysis of nonlinear extended state observer is discussed.By using this method,the disturbance in the electromechanical actuator can be effectively observed and compensated.(3)According to the drive and control requirements of the electromechanical actuator,the design of the whole hardware circuit is divided into four parts: power circuit module,drive circuit module,control circuit module and communication module.The design idea and implementation scheme of each module are studied in detail.And according to the previous design algorithm,the control algorithm of the intelligent actuator is determined,and the design and writing of the control algorithm are completed.(4)The speed mode and position mode of the control system of the developed electromechanical actuator are tested respectively,the feasibility of the drive control circuit is verified,and the effectiveness of the proposed drive control algorithm is further verified.