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针对滚珠丝杠的电动舵机减速传动机构,建立基于永磁无刷直流电机的电动舵机模型,采用滑模变结构控制设计控制器。对于控制系统抖振问题,提出采用模糊算法抑制抖振的解决措施,并通过仿真验证了算法的有效性。仿真结果表明,电动舵机系统能平稳快速跟随指令变化,满足使用需求。
Aiming at the gear reducer transmission mechanism of ball screw, an electro-hydraulic servo model based on permanent magnet brushless DC motor was established. The sliding mode variable structure control was used to design the controller. For the chattering control of the control system, a solution to the chattering suppression using fuzzy algorithm is proposed, and the effectiveness of the algorithm is verified through simulation. The simulation results show that the electric servo system can follow the command changes quickly and smoothly to meet the requirements.