含有死区与间隙电动舵机的反演控制

摘要

Aiming at the problems of dead zone and gap on the electromechanical actuator , a control-ler based on backstepping method is proposed .The system of electromechanical actuator is modeled , and the stability of the designed backstepping controller is proved .Based on the technology of numerical simu-lation, the rapidity and steady-state accuracy of this controller is demonstrated .The simulation results show that this controller is better than traditional PID controller , and it could remove the influence of dead zone and gap ,and has the excellent tracking performance and strong robustness .%针对电动舵机存在的死区与间隙特性，设计了一种基于反演法的控制器。对电动舵系统进行建模，并证明了所设计的反演控制器的稳定性。运用数字仿真技术对舵系统进行了仿真分析，说明了该控制器满足系统对快速性以及稳态精度的要求。仿真结果表明，此控制器不仅明显优于传统PID控制器，而且能够消除死区及间隙影响，具有优良的跟踪以及鲁棒性。