The Performance Research On Permanent Magnet Synchronous Motor In EMA Position Servo System

The improvement of the missile flight speed and guidance precision is the key to win in the modern war.This has put forward higher requirements for the control of missile rudder servo system.The missile steering system belongs to the set-point position tracking servo system,which demands nice dynamic performance and stability performance.However,the traditional position speed current three-loop control has been difficult to meet the performance requirements of the system.The position and current double-loop regulator parameter setting process is analyzed and derived in detail with the establishment of the Electro-Mechanical Actuator system model.To improve the servo system performance,the Proximate Time-Optimal Servomechanisms,whose control rate parameters are analyzed and designed and make itself adapted to the nonlinear missile rudder system,is put forward in the paper.Then,aiming at the problems existing in the Proximate Time-Optimal Servomechanisms,we optimize these three aspects:(1)We design the reduced-order disturbance observer to estimate and compensate the load torque to reduce the static error caused by the load torque;(2)We use forgetting factor recursive least square method to identify the system inertia online.And identification result is introduced to the control rate and observer to decrease the impact when the moment of inertia varies in a wide range so as to improve the practicability of the system;(3)For the speed limited Proximate Time-Optimal Servomechanisms is designed and adopted,the scope of the position command is expanded in the allowance of the system speed.Finally,the double-loop control system and the Proximate Time-Optimal control system simulation model are bulit based on Matlab/Simulink software.And we set up the disturbance observer module,inertia identification module and the speed limit module based on the Proximate Time-Optimal Servomechanisms.Meanwhile,A hardware platform is established,and series of software procedure are programmed to do the experimental verification.The simulation and experimental results show that the system meets the dynamic and steady-state requirements,and bandwidth reaches 14 Hz under the Proximate Time-Optimal Servomechanisms,which is feasible in the missile rudder servo system.