| To enable an air defense rocket launcher to cope with more and more complex use scenarios,the response speed,control accuracy and robustness of its servo control system are further improved.In this paper,the permanent magnet synchronous motor(PMSM)control algorithm and dual-motor anti-backlash control are studied,and a servo control test bench is built to verify the designed control algorithm.The main contents of this paper are as follows :(1)The servo control system is modeled,and the PMSM control model based on vector control strategy is built.(2)Aiming at the problems of premature convergence,slow convergence speed in the later stage of calculation and easy to fall into local optimum of the moth fire algorithm(MFO),a new improved moth fire algorithm(IMFO)is proposed by introducing Levy flight strategy and crossover and mutation operations of genetic algorithm into the traditional MFO algorithm,and the optimization ability of the algorithm is verified by simulation.A three-closed-loop controller of PMSM based on IMFO-PID is designed by combining IMFO algorithm with traditional PID control,and the position tracking ability of the motor is controlled by sine and step signal test algorithms.The results show that the IMFO-PID controller can effectively improve the accuracy and robustness of the PMSM vector control system.(3)A dual-motor synchronous anti-backlash control strategy is designed for the common nonlinear backlash problem in the servo control system.The dual-motor synchronous controller and the dual-motor anti-backlash controller are designed to complete the simulation verification.The results show that the synchronization controller and the anti-backlash controller can effectively eliminate the negative impact of the backlash on the system and improve the stability and synchronization of the system.(4)The mechanical structure design and the selection of electrical components are completed,and the servo control test system is designed and built.The experimental platform can support four motors to drive at the same time,and can satisfy the free adjustment of the load inertia within the maximum five times of the motor output inertia.The above simulation contents are compared and verified by experiments.The experimental results show that each controller can effectively enhance the accuracy of position tracking and improve the stability of the system. |
