Design Of Control Strategy For Permanent Magnet Torque Motor Of Pod And Development Of Drive Devic

As an important component of airborne equipment,the photoelectric pod has the functions of tracking and guidance of monitoring targets,and its performance is easily affected by sand,wind resistance,electromagnetic and other application enviro N·ment factors.The permanent magnet torque motor and drive device are the key components of the optoelectronic pod,and their performance determines the accuracy and reliability of the detection of the pod.Therefore,the study of the driving accuracy of torque motor under loaded condition becomes a hot direction in the field of optoelectronic pods.This thesis is the sub-topic research content of the Guizhou Science and Technology Support Program Project(Qiankehe Support [2021] General 280),taking the pod permanent magnet torque motor developed by a company in Guizhou as the research object,focusing on the permanent magnet torque motor control strategy and drive device,aiming to improve the target tracking performance,anti-disturbance performance of the control system.The specific work is as follows:1.The mathematical model of the pod permanent magnet torque motor in synchronous rotating coordinate system is established,the control system is built with vector control as the core,the detection principle of switching Hall sensor and resolver in rotor position detection is analyzed,and the influence of the change of the internal parameters of the motor and the uncertain load on the control performance of the pod permanent magnet torque motor is studied based on the working enviro N·ment of the pod permanent magnet torque motor,which provides a theoretical basis for the subsequent research.The theoretical basis is provided.2.To address the problems of lagging target tracking and poor reliability of traditional PI control,an improved method based on series PI position feedforward is proposed,which uses a series PI topology to optimize the controller parameter adjustment process,introduces feedforward control to improve the response speed of the position loop,and improves the reliability of obtaining rotor position and speed information by extending the Kalman filter algorithm.Based on the MATLAB/Simulink simulation results,the improved PI control strategy reduces the overshoot and enhances the target tracking accuracy,and the maximum tracking error is 0.092 rad under sinusoidal response,but the immunity performance is poor when subjected to load changes.3.In order to enhance the immunity performance of the control system,an immunity control strategy based on improved linear self immunity is proposed,introducing a tracking differentiator in the controller to solve the contradiction between rapidity and overshoot in PID,and improving the linear state error feedback control law by using fractional order theory to improve the immunity of the control system.The simulation results show that: in the speed control mode,no overshoot is achieved and the response time is shortened by 5times;in the position control mode,the peak position fluctuation is reduced by 4 times;the tracking accuracy can reach 97.66% under time-varying load disturbance,which has strong anti-disturbance performance.4.According to the control performance parameters and indexes of the photoelectric pod,the drive device with STM32 as the control core is designed,and the experimental platform is built by KISTLER torque sensor to experimentally verify the control strategy and its drive device designed in this thesis.The experimental results show that the designed control strategy and the drive device have good following in the speed and position tracking performance test,the deviation rate of speed at steady state is less than 2%,the position fluctuation is between 0.08°,and the fluctuation amplitude is small when suffering from load disturbance,which verifies the effectiveness in practical engineering applications.