【作者】 魏欣；

【导师】 刘世平；

【作者基本信息】 南京理工大学 ， 兵器发射理论与技术， 2007， 硕士

【摘要】 本文从总体上分析和设计了炮射制导弹药电动舵伺服系统，根据弹用伺服系统的设计要求，针对弹用伺服系统组成的各部分进行了分析，利用理论推导和实验验证的方法建立了舵系统的数学模型，基于此数学模型，利用滑模变结构控制策略设计了舵机的变结构控制器，同时为兼顾理论和工程应用需求，本文结合实际同时推导了连续滑模和离散滑模的控制律，并分别对控制效果进行了仿真。为了比较说明问题，课题还采用了一种改进型的PID算法来设计舵机控制器，并设计了基于LPC936单片机的控制器来实现上述控制律，设计和制作了配套的其他外围驱动和反馈电路，在负载模拟器上进行半实物的控制仿真。最后对两种控制方式设计的控制器在控制性能各方面上进行了比较。实验结果表明，电动舵机滑模变结构控器和改进型PID控制器的设计均基本能满足设计指标的要求，但应用滑模变结构控制器系统在快速性和稳定性性能上显得更加优越，这为将来类似工程项目的研究提供了积极的参考意义。更多还原

【Abstract】 The paper generally analyses and designs the electromechanical actuator servosystem of artillery projecting guidable projectile. First, according to the performancerequirements, we select the parts type of electromechanical actuator and calculate theirmathematic model, then we can get the mathematic model of whole electromechanicalactuator by compute and experiment result. Based on the model, we can design themethod of sliding mode variable structure control(SVSC). With a view to the bothdemand of theory and engineering, the paper study the control law of continuum-timeSVSC and discrete-time SVSC respectively and provide the simulation of control effectby each.To comparing and illuminating the control effect, the paper also adopts the methodof ameliorated PID to design the controller. Then choose the LPC936 single-chipcomputer in this system to implement the control law. We also design and make the driveand feedback apparatus. Finally, comparing the controllers’performance designed indefferent control law comprehensively.The result of experiments indicates that the properties of both sliding mode andameliorated PID electromechanical actuator control implement designed in the paper iswell. However, the SVSC controller has the better performance in speediness andstabilization. It provides the positive referrence in more field.更多还原