基于间隙等效模型的舵机非线性控制研究

舵机作为导弹执行机构，其性能对弹体特性提升起着关键性的影响。随着导弹对舵机的性能需求越来越 高，舵机间隙、摩擦和弹性变形以及参数摄动等非线性因素影响日益凸显，严重制约了系统性能提升，因此开展舵 机非线性特性研究显得尤为重要。结合某在研工程舵机因长时运转而出现机构磨损造成的间隙放大问题，给出了含间隙等效的舵机仿真控制模型，并针对舵机非线性控制特性和飞行状态大间隙下惯量响应所导致的导弹稳定性问题 开展仿真分析和试验验证；最后引入自抗扰控制算法设计，可以一定程度上解决含间隙的舵机系统负载干扰下鲁棒 性较弱的问题。该研究对控制器设计和机构间隙控制具有较好的指导意义。

The Control Research of Actuator Nonlinearity Based on Equivalent Backlash Model Luo Ming-liang1Lin Jun2Yu Zhi-kai2Wu Xiao-feng1Huang Jia-yi1Sun Xun1

As the actuator of missile control system, the property of actuator plays an important role in improving the performance of missile. With the higher actuator performance demand from missile, the effect of actuator nonlinearity arise, such as backlash, friction, elastic and parameter perturbation, which limit performance improvement, so it’s especially important to carry out actuator nonlinearity. Combine with the incremental backlash problem of actuator in progress which appears mechanical wear in virtue of working for a long time, a simulation model including equivalent backlash is provided, the analysis and experiment are also carried out about the control characteristic of actuator and flight stability problem caused by inertia response owing to large gap in the flight condition; Finally active disturbance rejection control algorithm is introduced and the controller can solve the robustness problem of actuator system including backlash in presence of load interference at one level. This research is of essential guiding significance to design controller and restrain the backlash.