电动舵机伺服系统的模型辨识及其校正

基于全数字化电动舵机的特点，本文提出了一种频率特性自动测试新方法，在此基础上对电动舵机系统的模型进行辨识，并对系统进行串联校正。首先使用数字控制器进行全过程自动测试并将数据上传计算机，再通过Levy法将测得的频率特性数据辨识为高精度的传递函数，辨识后中低频段的幅值最大绝对误差小于0.8dB，相位最大绝对误差小于1.1°，并在此基础上选用滞后超前校正器对系统进行校正，校正后系统带宽达到138 ，优于理论计算的124 。实验结果表明：频率特性测试自动化程度高、传递函数辨识较精确、系统校正方法得当，整个过程为研制性能优良的电动舵机伺服系统提供了理论依据和工程实现指导。

Model identification and corrector design for servo system of electromechanical actuator

A new frequency characteristic automated test method is proposed based on the digitization characteristics of the electromechanical actuator, then the system model of electromechanical actuator is identified, after further a series-wound corrector is designed to correct for the system. First the entire automated test process and data uploaded to the PC is controlled by the digital processing controller. Then these frequency characteristic tested data is identified to the high precision transfer function through using the Levy method. In the low and intermediate frequency, the maximal absolute error of magnitude between identified data and tested data is less than 0.8dB and the maximal absolute error of phase is less than 1.1°.On the basis of the transfer function, a lag-lead corrector is designed for the system, and the bandwidth of the corrected system is 138rad/s, which is better than 124rad/s by theory calculated. The corresponding experiments have been carried out, and the results show that the frequency characteristic test method has a high degree of automation, the identified transfer function has higher precision and the lag-lead corrector is suitable for the system. The whole process for the development of high-performance electromechanical actuator servo system provides a theoretical basis and engineering guidance.