大惯量比舵机无位置传感器控制系统研究

电动舵机作为导弹的执行元件，其性能对弹体控制起着关键性的影响。为了规避长航时舵机可能存在潜在的高温失效风险，提出了一种舵机有感/无感复合控制策略，通过位置传感器和滑模观测器分别实现有感及无感模式下舵角位置信号提取，最终实现位置闭环控制；并针对大惯量比舵机控制问题，为权衡快速性与稳定性、准确性的关系，设计了前馈控制融入位置电流双环算法，经MATLAB仿真和实测结果表明，所设计的舵机控制系统能够实现有感与无感控制平稳切换，运行过程无抖动现象，验证了该控制方案的可行性。

The Research of Actuator Sensorless Control System with Large Inertia Ratio

As the actuator of missile control system, the property of actuator plays an important role in improving the performance of missile. To avoid possible risk of high temperature failure, A compound control strategy of Sensor/ Sensorless is put forward. Via position sensor and SMO to get the angle position signal of sensor and Sensorless model separately, then realize position loop Control; what’s more, Aim at the control problem about large inertia ratio, a algorithm which integrate feedforward control into position and current dual-closed loop is designed to balance the relationship of rapidity and stability/accuracy. The MATLAB stimulation and experimental results show that the control system can realize smooth transition between Sensor and Sensorless and run with a non-existent vibration phenomenon. We are able to conclude that the designed control system is feasible.