分析了机电作动器(Electronic-mechanical Actuator,EMA)系统的基本结构组成和工作原理,建立了其数学模型。将基于趋近律的滑模变结构控制策略应用于控制EMA的力伺服控制中,设计了双滑模变结构控制器。在AMESim和MATLAB中建立了EMA机械、电机、控制器的模型并进行联合仿真。最后将此控制策略与PID和前馈的复合控制策略进行对比分析。结果表明,基于趋近律的双滑模变结构控制策略用于控制EMA是可行的,并且可以提高系统的频响和加载精度,使力伺服系统有更好的动态性能。
Abstract
The structure and operating principle of Electronic-mechanical Actuator (EMA) are analyzed, and its mathematic models are built. Sliding-mode control is designed to the force servo control of EMA. Mechanical parts, models of motor and control parts are built based on AMESim and MATLAB, and the co-simulation is used to analyze the simulation result. At last, we compare and analyze the result of sliding-mode control and PID-feedforward compound control, and the result shows: it is feasible that the sliding-mode control based on reaching law is applied in EMA, and it can improve the frequency response and loading accuracy of EMA, so that the force servo system has better dynamic performance.
关键词
EMA ;
滑模变结构 ;
联合仿真 ;
加载系统 ;
力伺服
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Key words
EMA ;
sliding-mode control ;
co-simulation ;
loading system ;
force servo system
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