Design And Research Of A Shipping Electric Rudder Servo Drive Control System

In order to adapt to the current development trend of all-electric driven ships,in view of the problems existing in the hydraulic drive mode of the ship steering gear servo control system at the present stage,a kind of electric steering gear servo drive control system is designed by using the stepper motor with simple structure,reliable operation and high performance-to-price ratio.A servo control system of electric steering gear is designed to realize the position servo control of the steering gear and ensure that the system has good anti-interference performance.The traditional stepper motor control mode is generally open-loop control,which has some shortcomings,such as out-of-step when the load sudden change,poor ability to adapt to the load,limited running speed and so on.With the development of digital control technology and the improvement of the running ability of microprocessor,the application of new control algorithm in stepper motor position control becomes possible,which expands the application range of stepper motor.First,the structure and basic working principle of two-phase hybrid stepper motors are introduced,the mathematical model under two common coordinate systems of stepper motors is deduced in detail using the simplified magnetic network model,the spatial voltage vector pulse width modulation method under double H-bridge topology is further obtained,and the vector control scheme for two-phase hybrid stepper motors is analyzed and designed.Secondly,in order to improve the problems of long position response time and large steady-state error in the traditional vector control method,the second-order super-spiral sliding mode control strategy is applied to the motor position control,and the corresponding second-order sliding mode position controller is designed.the simulation analysis shows that the second-order sliding mode control method can improve the system response speed and eliminate the system steady-state error.Thirdly,in view of the strong disturbance in the actual system,on the basis of the second-order sliding mode control scheme,an extended state observer based on superhelix algorithm is designed to estimate,observe and feed forward the state variables of the system.Simulation results show that the designed second-order sliding mode control strategy based on superhelix extended state observation has excellent performance in anti-load disturbance.According to the above simulation results,it can be seen that the designed stepper motor control system has better control performance and dynamic response effect,and can reduce the inherent vibration and noise of the motor.Finally,combined with the application environment of the system and the motor control algorithm,the hardware realization of the two-phase hybrid stepper motor servo system is completed,and the servo control program of the two-phase hybrid stepper motor is written by using C language.In order to better realize the control algorithm.The hardware platform of marine electric steering gear servo drive control system is designed and built to verify the effectiveness of the scheme design.