电动舵机非线性系统的辨识研究

本文针对所设计的三闭环电动舵机系统,为了提高舵机的控制精度,提出了采用非线性系统辨识的方法,并且利用辨识的参数对系统进行补偿。根据电动舵机的模型分别采用了前馈补偿的方法和反馈辨识的方法对系统的摩擦进行仿真建模研究,并且将建模数据加入到电动舵机中进行试验验证,系统的位置跟踪误差和速度跟踪误差均有大幅度减小。试验结果证明,本文所提出的辨识研究方法可以准确地实现摩擦模型的建立,并且从该模型出发进行补偿可以有效地提高电动舵机的控制精度。

The study of identification for nonlinear system of electronic actuator

The paper for the design of the three closed-loop motor servo system included position, speed and current, in order to improve the control accuracy of system, achieve the system index of UAV, raise the method of the nonlinear system identification. The paper includes the friction of electric steering gear system and backlash. Lugre model for friction and the identification of backlash are applied to the paper. According to the model of the system, the method of feedforward compensation and feedback identification method are used. The results of the experiment show that the proposed identification methods can accurately realize the identification of friction and backlash. Besides, it can improve the control accuracy of electronic actuator effectively.