摘要舵机作为弹体运动的执行机构，对弹体的运动和姿态有着重要影响。现在，无刷直流电机以其众多优点在舵机中得到越来越广泛的应用。舵机的性能好快在很大程度上会影响导弹的作战性能。由于弹体运动的复杂性以及经常伴随强烈的干扰，对电机控制系统的要求也就越来越高。本文针对采用无刷直流电机的舵机调速系统进行控制设计，使其在技术指标上能满足舵机的性能要求。

本文在对无刷直流电机数学模型进行分析的基础上，对目前主要的的无刷直流电机控制技术进行了研究，结合课题选择了采用以电流环为内环，速度环为外环的双闭环控制策略，电流环采用经典PI控制方法设计控制器，转速环采用经典PID控制方法建立模型。本文对基于趋近律的滑模变结构控制进行了介绍，并基于指数趋近律，根据电机传递函数得到的被控对象方程，推导出滑模控制器的表达式，根据表达式搭建了滑模控制的仿真模型。84191

最后，采用MATLAB/SIMULINK搭建了基于经典PID控制的无刷直流电机转速电流双闭环控制模型和基于指数趋近律的滑模变结构控制模型，并进行了仿真。仿真结果表明，PID控制下的系统快速性和跟踪性已经满足要求；滑模控制模型超调量更小，速度响应更快，跟踪效果更好，能实现高精度﹑高速和强鲁棒性的要求。

毕业论文关键词：无刷直流电机；滑模变结构控制；转速电流双闭环控制；指数趋近律

毕业设计说明书外文摘要

Title    Design of the Adaptive Variable Structure Control of the Speed Regulating System of BLDCM Mechanical Actuator                   

Abstract As the projectile motion of the actuator, steering gear  has a important influence on body movement and posture。 Now,to its numerous advantages in the steering, brushless DC motor tend to get more and more widely used。 Performance of actuator  fast or not in a large extent will make effect on missile's operational performance。 Due to the complexity of the missile body motion and often accompanied by strong interference, the motor control system is in extract demand。 The work of this paper is to design the speed control system of Brushless DC motor control system that the technical indicators can meet the performance requirements of the servo。 

Basing on the analysis of the mathematic model of BLDCM, this paper investigate the current control technology of BLDCM, combining the project and choosing double-closed-loop control strategy while the current loop serves as the inner ring and the speed loop serves as the outer ring。 SMVSC belongs to modern control theory to Engineering-Control and it is applied in double control loop of speed and current of BLDCM。 Besides, the author also designed a speed regulator based on the exponential approach law。

Finally, the author builds a speed and current closed-loop control model of BLDCM in MATLAB/SIMULINK。 The design of inner loop is based on the classic PI control while that of the outer loop is based on VSC。 A simulation experiment was taken。 Simulation results show that PID control system speed and tracking has met the requirements; sliding mode control model has a smaller overshoot, faster response, better tracking performance, which achieve the requirements of high accuracy, high speed and strong robust。

Keywords: BLDCM;  SMVSC;  double control loop of speed and current;  the reaching law;

目   次

1  绪论 2

1。1  选题的科学意义和应用前景 2

1。2  电动舵机控制系统的发展现状 2