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标题：基于分数阶控制的电动舵机伺服系统研究 |
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作者：韩迪，王剑，余永平，等 |
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| 2017年第6期 访问次数：242次 |
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摘要：介绍了一种位置、电流双闭环无人机电动舵机伺服系统的组成和工作原理，针对电动舵机伺服系统跟踪精度要求高、响应快的特点，提出了一种分数阶控制策略。在电动舵机伺服系统的饱和非线性模型上设计了一种分数阶PIλDμ控制器，提高了系统带宽。比较分析了设计的控制策略与传统整数阶PID控制器对于伺服跟踪的控制效果。仿真结果表明，采用提出的方法能提高电动舵机响应时间和系统带宽，有效跟踪输入信号，为高性能无人机电动舵机伺服系统控制策略设计提供了一种新途径。
关键词：电动舵机；伺服系统；分数阶控制；PID控制
Abstract: This paper proposed a modified fractionalorder controller for servo systems of electromechanical actuators, where the systems have a high tracking speed and a strong sensitiveness to signal noise. In the saturation nonlinear models of such servo systems, the controlled quantity was computed by a PID controller using fractionalorder algorithm, which could also increase the system bandwidth. Furthermore，this paper compared the control effects in servo tracking of the proposed control method and the traditional integer PID. Simulation results indicate that the proposed method can increase the response speed and system bandwidth of the system, and effectively track the input signals. The fractionalorder control method could offer a new way to design the servomachnical control strategy for highperformance electromechanical actuator in UAV.
Key words: EMA；servo systems；fractionalorder algorithm；PID control |
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