【作者】 陈斌；

【导师】 赵东标；

【作者基本信息】 南京航空航天大学 ， 机械电子工程， 2019， 硕士

【摘要】 机电作动器(EMA)是一种机电一体化装置,具有集成度高、功率密度大、传动效率高等优点,在飞机翼面控制系统、武器随动系统、电动收放系统中具有良好的应用前景。高性能的EMA要求具有良好的动态响应和环境适应性。针对该要求,本文研究自适应控制在EMA数字伺服驱动领域的应用并搭建以IPM和DSP为核心的伺服驱动平台以进行性能验证。首先,介绍本文EMA总体设计,建立了EMA数学模型,模型包括驱动电机和机械传动两部分。在EMA数学模型的基础上,分析了现有电流控制策略在解耦精确性、动态响应性、对参数变化的鲁棒性方面的优势与不足,提出了基于模型参考自适应(MRAC)的电流环控制策略。在EMA速度环设计中,通过扰动观测器对EMA速度控制过程中的扰动进行观测和前馈补偿。此外,对该控制器的参数敏感性进行分析,在此基础上提出了基于递推最小二乘法(RLS)的速度环自校正控制策略。然后,搭建了EMA数字伺服驱动系统试验平台,包括硬件平台和嵌入式软件系统。硬件平台包括功率驱动电路和数字控制电路,功率驱动电路以智能功率模块(IPM)为核心,采用三相半桥结构;数字控制电路以DSP+CPLD为核心,结合了DSP的强大运算能力与CPLD的灵活性和便利性;设计了EMA自适应控制嵌入式软件系统,并进行相关测试和调试。最后,在EMA数字伺服驱动平台上对本文提出的自适应控制算法的可行性和有效性进行试验和验证。更多还原

【Abstract】 Electromechanical actuator(EMA)is a kind of mechatronic device with high integration,power density and transmission efficiency,which is being increasingly used in aircraft airfoil control system,weapon follow-up system and electric retractable system.High performance EMA requires good dynamic response and environmental adaptability.The application of adaptive control is studied in this thesis in response to these requirements.An EMA digital servo drive platform is also built with IPM and DSP.Firstly,the overall design of the EMA is introduced and the mathematical model is established,which includes two parts: the servo motor and the mechanical transmission mechanism.Based on the mathematical model,the advantages and disadvantages of existing current control strategy in decoupling accuracy,dynamic response and robustness to parameter changes are discussed.A model reference adaptive(MRAC)based current control strategy is proposed.The disturbance in EMA speed regulation is observed and compensated by a disturbance observer(DOB).In addition,a self-tuning speed control strategy based on recursive least square method(RLS)is proposed.Afterwards,the hardware platform and embedded software system of EMA are designed.The hardware platform includes a power board and a control board.The former is based on intelligent power module(IPM)and adopts a three-phase half-bridge structure.The latter combines the powerful operational capability of DSP and the flexibility and convenience of CPLD.The embedded software system is also designed and debugged.Finally,the feasibility and effectiveness of the proposed adaptive control algorithm are tested and verified on the EMA digital servo drive platform.更多还原