摘要
为了提高弹用电动舵机的鲁棒性,采用了铰链力矩的舵机数学模型,从工程应用角度对模型中传递函数系数进行了适当修正,研究了一种基于离散滑模变结构控制器的弹用电动舵机控制方法,分析了离散滑模设计中的三个参数c,,εq的影响。经仿真验证,所设计的控制器不仅有较好的动态性能,而且所引起的0.3 V的抖动更利于克服舵机的死区电压。
In order to improve the robustness of shell electromechanical actuators, the model with hinge moment is considered. The transfer function coefficient is corrected properly from the engineering viewpoint. A discrete sliding mode variable structure controller is designed for shell electromechanical actuator system. The influence of the control parameters c, ε, q is analyzed. The results of MATLAB simulation show that the controller can overcome the dead-time voltage and has a better dynamic performance.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2009年第1期96-99,共4页
Journal of Nanjing University of Science and Technology
关键词
电动舵机
离散滑模
变结构控制
死区电压
仿真
electromechanical actuators
discrete sliding mode
variable structure control
deadtime voltage
simulation
