摘要
电动舵机是现代无人机飞控系统的关键组成部分。针对传统电动舵机系统抑制干扰能力差、跟踪精度低、响应速度慢的问题,提出一种改进优化的自适应滑模控制(SMC)算法。首先,在进行系统建模和实验平台搭建时考虑了外界扰动和摩擦间隙等非线性问题,以此为基础设计了新的滑模面函数;其次,通过重新设计切换控制函数,使舵面偏转角度更加准确,有效的提高了系统的跟踪精度;最后,在系统中引入一阶低通滤波器,有效的消除了控制量抖振问题。并通过FPGA芯片实现了该算法,设计实验加以验证。实验结果表明,与传统PID算法相比,改进的滑模控制算法具有较强的抑制干扰能力和较快的动态响应速度,跟踪误差也有明显的下降。由此可见该算法在解决电动舵机的非线性问题方面具有较强的优势,基本满足舵面偏转的精准控制需求,在无人机产品的生产实践中具有较强的实际应用价值。
Electric steering gear is a key component of modern UAV flight control system.Aiming at the problems of poor interference suppression ability,low tracking accuracy and slow response speed of traditional electric steering gear system,an improved and optimized sliding mode control(SMC)algorithm was proposed.Firstly,the nonlinear problems such as external disturbance and friction clearance were fully considered in the system modeling and experimental platform construction.Based on this,a new sliding mode surface function was designed;Secondly,the switching control function was redesigned to make the deflection Angle of the rudder more accurate and effectively improve the tracking accuracy of the system;Finally,a first-order low-pass filter was introduced into the system to effectively eliminate the chattering problem of control quantity.The algorithm was realized by FPGA chip and verified by design experiment.The experimental results show that compared with the traditional PID algorithm,the improved sliding mode control algorithm has stronger interference suppression ability and faster dynamic response speed,and the tracking error was reduced obviously.It can be seen that the algorithm has strong advantages in solving the nonlinear problems of electric steering gear,and basically meets the precise control requirements of rudder deflection.It has strong practical application value in the production practice of UAV products.
作者
李宝玲
刘新妹
殷俊龄
王乾胜
LI Baoling;LIU Xinmei;YIN Junling;WANG Qiansheng(School of Information and Communication Engineering,North University of China,Taiyuan 030051,China;State Key Laboratory Electronic Testing Technology,Taiyuan 030051,China)
出处
《微电机》
2024年第1期36-41,共6页
Micromotors
基金
山西省重点研发项目(201903D121058)。
