Reversing substitution compensation method for EMA (electromechanical actuator) dead zone
A technology of electric steering gear and compensation method, which is applied in the direction of instruments, adaptive control, control/adjustment system, etc., can solve problems such as large position tracking error, large "flat top" problem, and severe jitter of aircraft track, and achieve engineering The effect of small amount, easy engineering realization, and simple algorithm
Active Publication Date: 2015-11-25
中天长光(青岛)装备科技有限公司
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Problems solved by technology
[0004] In order to solve the problem of the steering gear position tracking system with dead zone in the prior art, when performing sinusoidal tracking of the small angle position, the steering gear system has a large "flat top" problem, which causes a large position tracking error, and then causes the aircraft track For the technical problem of severe jitter, the present invention provides a simple, reliable, easy-to-engineer implementation, and improves the control accuracy and speed of the electric steering gear dead zone commutation replacement compensation method
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[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0017] Such as figure 1 As shown, the electric steering gear system of the present invention includes a steering gear servo system controller, a PWM power module, a brushless DC motor, a speed reducer, a speed sensor and a position sensor; the steering gear servo system controller receives the steering gear deflection command, and simultaneously passes The speed sensor and position sensor collect the speed and position signals of the steering gear in real time, and after processing by the servo system controller of the steering gear, output the PWM code value to the PWM power module to drive the brushless DC motor, and then drive the deflection of the steering gear to realize the steering High-precision position tracking of machine systems.
[0018] Such as figure 1 with figure 2 As shown, the steering gear servo system controller of the present inv...
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The invention discloses a reversing substitution compensation method for an EMA (electromechanical actuator) dead zone, and belongs to the technical field of EMA servo control. The method comprises the steps: adding a compensation controller to an EMA servo system controller, enabling the position deflection error e of an EMA, a PWM value and a direction signal of the EMA under the normal working condition to be inputted into the compensation controller, and outputting delta m; substituting the output uv<k-1> of a speed PI controller at the last moment when e is greater than theta<0>, the position of the EMA changes and delta m is equal to uv<0>, and obtaining the current output uv<k> of an EMA speed ring, wherein the uv<k> is equal to (uv<0>+(k<pv>+k<iv>)*e<v>*(k)-k<pv>*e<v>(k-1); substituting the output uv<k-1> of the speed PI controller at the last moment when e is less than -theta<0>, the position of the EMA changes and delta m is equal to uv<1>, and obtaining the current output uv<k> of the EMA speed ring, wherein the uv<k> is equal to (uv<1>+(k<pv>+k<iv>)*e<v>*(k)-k<pv>*e<v>(k-1). The method does not need a precise compensation value delta m, can quickly start the EMA through several iteration operations, eliminates the impact from the dead zone, and also avoids a problem of stable state jitter caused by frequent compensation.
Description
technical field [0001] The invention belongs to the technical field of servo control of an electric steering gear, and in particular relates to a dead zone commutation replacement compensation method of an electric steering gear. Background technique [0002] Electric steering gear (EMA) has been widely used in aircraft at home and abroad because of its small size, low cost, and easy control. However, there is inevitably a dead zone (friction, clearance, etc.) in the steering gear system, which can be ignored when the dead zone is not too serious and the control index requirements are not strict. However, when doing high-precision, high-bandwidth position tracking, ignoring the dead zone effect will cause a serious "flat-top" problem, which will seriously affect the tracking accuracy and bandwidth of the steering gear system, and even cause the aircraft's track to shake, destroying the aircraft's stability. Therefore, compensation and control methods for the dead zone are ...
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IPC IPC(8): G05B13/02
Inventor 周满张驰张明月
Owner 中天长光(青岛)装备科技有限公司