Sliding Mode Variable Structure Control Strategy Applied on Position Servo System of EMA

摘要

This paper introduces the basic elements of Electronic-Mechanical Actuator(EMA),and gives the equations.The mathematical model-state equations is established based on the basic equations,and the sliding mode variable structure control strategy,based on the reaching law is applied to control the position servo of EMA.We design a position-speed integrated sliding mode variable structure controller.The models of EMA machinery,electrical motor and controller are established in AMESim and Matlab,and joint simulation is carried out.Finally,this control strategy is compared with the three loop PID control strategy,and the experiment is carried out.The result shows that the sliding mode variable structure control strategy based on reaching law used to control EMA can improve the frequency response and control accuracy of the system,can also improve the dynamic performance of the position servo system.