Research On Closed-loop Control Of Electromechanical Actuator And High-speed Communication System

As the high precision servo system the Electromechanical Actuator has thepredominate of simple structure, small size,and its increasingly rapid developmentin the aerospace. This paper uses AC permanent magnet synchronous servo motorservo as steering gear drive unit which has the advangtages of small torque ripple,wide speed range, instruction fast response, high efficiency, high positioningaccuracy. high positioning accuracy compared to the brushless DC motor as thedrive unit. AC servo electric steering gear system has become the development trendof electric steering gear. The communication among the AC servo electric steeringgear system uses the EtherCAT real-time and high-speed Ethernet technology.Master implement complex the control algorithm and send control commands to theservo controller.This paper analyzes the AC servo electric steering gear system,Using theJMAG simulation analysis AC permanent magnet synchronous motors which meetsthe requirements of steering gear's rotational speed and torque The control systemhardware uses high-performance MCU as its core. The motor position sensor usemagnetic rotary encoder which is characterized by high precision and small size.Inthe EtherCAT communication aspect, Completing the communication betweenmaster and slave AC servo electric steering system,and the communication amongthe AC servo electric steering gear system by using EtherCAT slaver devices.To analysis the mathematical model of the PMSM.To obtain the equation ofmotion in the PMSM vector control system,using this equation can get idaxis zerocontrol strategy.The AC servo control system uses three closed-loop control transferfunction. which includes the position loop, speed loop and current loop.On theraspect of AC servo control system,to obtain command high response characteristicsand instructions fast follow characteristics by using feedforward control strategy,toimprove the AC servo interference immunity by using the two degree of freedomcontrol strategy.Finally, building the system experimental platform.Debugging EtherCATcommunication system.AC permanent magnet synchronous motor speed loop,current loop control parameters for debugging, so as to satisfy the requirements of.current response and rotational speed Using a common high-speed positioningexperimental method to debugge the AC servo steering gear system's feedforwardcontrol parameters and the two degrees of freedom control parameters,that makes sure the control parameters of actual control system.The laste, test the AC servoelectric Steering gear system was followed by a sinusoidal signal command system,To analyze experimental results,the AC Steering gear motor servo system has goodcharacteristics of response and follow instructions.