直线舵机加载台控制系统建模与设计

摘要

A new linear control system of pneumatic actuator is designed. This structure turns rotary motion into linear motion of the torque motor through the motion of the rocker, then a linear load is achieved in a small angle of the motor. Firstly, the composing and the theory of the linear motor are given, and a mathematical model of the load system of the pneumatic actuator is built. Then, the load system is designed using a complex control strategy basing PID control, combined feedforward and the torque speed feedback. Last, through a test, the control system using the designed control strategy can meet the demand of the system, and can give reference value to engineering practice.%设计了一种新的直线气动舵机加载结构,该结构通过摆杆运动将力矩电机的旋转运动变为直线运动,在电机转动角度不大的情况下实现了对舵机的直线加载.首先,给出了直线舵机加载台组成及其工作原理分析,并建立了气动舵机加载系统的数学模型.然后,采用PID控制加复合前馈和力矩速度反馈的复合控制策略对舵机加载系统进行了设计.最后,通过对直线气动舵机的实物测试,验证了所设计的气动舵机加载系统可完全满足系统指标要求,具有较高的工程参考价值.