Design And Analysis Of Control System For Gas Rudder Steering Gear Based On ARM

The precision guided missile has became an indispensable weapon as a kind of modern military equipment.As the requirements of weapons become higher and higher in modern war,the high precision guidance technology has became an important direction of national guided missile research.Servo steering system control technology not only affects the missile flight attitude,but also determines the missile's guidance accuracy to a great extent.Currently guided missiles and guided rockets mainly employ DC brushless permanent magnet servo actuator as the control components of rudder.The servo actuator mainly rely on the rotation of its shaft to drive the rudder to rotate so that the wing reaches to a certain angle.The servo steering system has the features of low volume,low mass,high rotational speed and high torque.It has good control precision,but at the same time it has strong non-linearity and time-variation,so the control technology of servo steering system becomes the research focus of modern society.In this paper,taking the gas rudder system as subjects,the hardware and software control system and the control algorithm of the DC brushless servo controller are studied deeply.The main work and research results are as follows:(1)Based on the analysis of the structure characteristics,operating characteristics and relevant control principles of the DC brushless servo steering system,the Dynamixel series brushless DC servo steering is selected as the research object of this paper.Then by using the parameters of the steering gear,the structural principle analysis and transfer function derivation are carried out.The mathematical model of the steering gear is established with Matlab.Finally,the influence of the parameters of the steering gear is analyzed and the basic mathematical structure of the steering gear is determined.(2)Based on LPC2292 chip,ARM development board is designed and made.The modular design of P WM module,A/D conversion module and power supply module of ARM board is carried out with Protel software.On this basis,the conductive plastic potentiometer is selected as the servo position detecting element.The hardware and software feedback link based on position detection is designed and completed and then the gas rudder servo system is designed and installed.On the basis of the four-rudder's gas rudder system,the structures of the hardware test platform of the servo control system is completed.After the test,the position detection link and the ARM board have successfully completed the close-loop control of the servo.(3)Based on the hardware test platform of the gas rudder servo system in the paper,the simulation experiment is carried out with traditional PI.The result of the experiment is overshoot and the response is slow.On this basis,the adaptive fuzzy theory is introduced and used to analyze.An adaptive fuzzy PI algorithm is designed and the adaptive fuzzy PI simulation modeling and control program are completed with Matlab.Then based on the hardware test platform and the PI algorithm of adaptive fuzzy control,the simulation analysis and experimental analysis of the servo system is carried out.The response states of the steering system with and without load are studied and the simulation analysis and experimental analysis are carried out respectively from given sinusoidal signal and step signal tracking ability.Finally,control effects on servo system are compared between the traditional PI and the adaptive fuzzy PI.The results show that the control effects of adaptive fuzzy PI algorithm designed in this paper is superior to the traditional PI control in terms of adjusting time,rising time and overshoot.