Research On Algorithm And Performance Of EMA Servo Drive Control System

Electro-Mechanical Actuator(EMA)is the key executive unit of future control actuation system.Its dunamic response performance,stability and reliability directly affect the performance of the whole flight control actuation system.Based on a Linear EMA,which is driven by PMSM,a high performance and all-digital servo frive system has been established.Since the system itself has the characteristics of nonlinear and high coupling,difficulties are added to the design of EMA servo drive control system.In order to simplify the design procedure and enhance system stability,backstepping has been used to design th EMA servo drive control system,and theimulation and experiment verify its practicability.Firstly,the background,development history and key technologies of EMA is introduced to prove the importance of this researchThen,the mathematical model of PMSM,mechanical transmission mechanism and load is built for the design of control system.Then,based on Field Oriented Control(FOC)and Space Vector Pulse Width Modulation(SVPWM),the three closed loop control technology is designed as the main control system.The backstepping method and Lyapunov’s stableness theory is used to design the position loop controller,speed loop controller and current loop controller.Simulations of the system designed above are carried to prove its feasibility.Secondly,according to the EMA servo drive system needs,the power circuit with intelligent power module and the control circuit with DSP+CPLD+RDC has been designed for the experiment.Based on the hardware test platform,a set of embedded software system has been programmed with CCS.Finally,a step signal tacking test and cosine signal tracking test has been established to testify the backstepping control system.The experiment results show that the backstepping control system is workable.