基于FPGA的谐波式电动舵机滑模控制研究与应用

根据谐波式电动舵机工作原理,推导了其数学模型;并针对谐波式电动舵机的特殊结构,在建模时充分考虑了摩擦和间隙非线性对舵机系统性能的影响.针对舵系统中存在的非线性问题,提出了一种滑模控制(SMC)算法;进一步为了解决滑模控制固有的抖阵问题,采用边界层与低通滤波器技术共同消除控制量的抖阵,并仿真验证了该算法的有效性.最终,采用数字芯片FP GA实现了该控制算法,并加以实验验证.实验结果表明:与传统比例积分微分(P ID)控制相比,基于滑模变结构控制的电动舵机的抗干扰和鲁棒性等有较大改善;且在偏转小角度时,由摩擦和间隙非线性导致的空回和时间延迟问题也得到了较好的抑制.

FPGA Based on Sliding Mode for Harmonic Gear Drive Electromechanical Actuator System Control

According to the principle of electromechanical actuator, the mathematical model was deduced. And considering the harmonic gear drive electromechanical actuator with highly friction and backlash nonlinear, a sliding mode control (SMC) scheme was proposed. Then, the filter and boundary layer technique were combined to alleviate chattering of sliding mode controller, and simulations were provided to illustrate the effectiveness of the controller. Finally, the FPGA is used to complete the control method. The experiment result is provided, and it can be seen that the sliding mode controller has better robustness against the modeling inaccuracies and external disturbances. And it can be found that the nonlinear factors can be suppressed better by the SMC method