基于模型参考自适应的电动执行器控制方法

摘要

In order to solve the control problem of electric actuators with brushless DC motor,a control method was proposed based on the model reference adaptive theory and its control system was designed by using TMS320F2812.The structure of the electric actuator was introduced,including the controller,driver,brushless DC motor,actuator,etc.The mathematical model of brushless DC motor was established and the realization process of model reference adaptive control was discussed with gradient method.On this basis,a full closed loop control method of electric actuators was designed,which includes not only the position feedback control but also the speed feedback control.At the same time the speed gain adjustment method was introduced.Finally,the hardware circuit of control system was presented and the experiment research was carried on.The experimental results show that the adaptive control system described can improve the response speed of electric actuator,movement precision and anti-interference ability.%针对采用无刷直流电机的电动执行器的控制问题,基于模型参考自适应理论提出了一种电动执行器控制方法并利用TMS32F2812设计了相应的控制系统.介绍了电动执行器的结构,包括控制器、驱动器、无刷直流电机、执行机构等.建立了无刷直流电机的数学模型,详细论述了采用梯度法实现模型参考自适应控制的过程.在该基础上,设计了一种电动执行器全闭环控制方法,即不仅包括位置反馈控制而且引入了速度反馈控制,同时介绍了速度增益的调整方法.最后,给出了控制系统的硬件电路并进行了实验研究.实验结果表明:基于模型参考自适应的电动执行器控制系统可以提高电动执行器的响应速度、运动精度以及抗干扰能力.