摘要电动舵机系统是导弹制导系统的重要组成部分，是一个高精度的位置伺服系统，其动态特性、静态特性决定了导弹操纵性的优劣。无刷直流电机以电子换相的优越性，适合作为电动舵机系统电机本体。65233

通过对电动舵机系统结构组成和工作原理的分析，建立各分系统的数学模型。由模块分析法在MATLAB/SIMULINK中建立各分系统的仿真模型，然后可把各模块组合成整体仿真模型进行仿真实验。电动舵机控制系统采用PID控制算法，运用电动舵机的简化模型，可通过MATLAB优化工具箱整定控制系统模块参数。由系统仿真结果对参数进行进一步调节，得到精确控制模型。电动舵机系统能精确跟踪阶跃信号、方波信号、正弦波信号，系统上升时间及超调量均能满足精度要求。

毕业论文关键词  电动舵机  控制系统  PID控制  仿真

毕业设计说明书（论文）外文摘要

Title   Precise position tracking control design and Simulation of electric actuator

Abstract The electric actuator system,which is to receive and execute flight control command,is is an important part of the missile guidance system.It transforms control instruction into mechanical motion.It is a high precision position servo system, Its dynamic characteristic and static characteristic determine the missile control performance.Because of electronic commutation, Brushless DC motor is the best choice to be the motor of the electric actuator system. 

Through the analysis of its tructure and working principle,these simulation models can be Established. According to the system working principle,the system’s model can be Established in MATLAB/SIMULINK.The electric actuator system adopts PID algorithm. Using the optimization toolbox of MATLAB,control system parameters can be established.Then it can be optimized by preliminary simulation results.The electric actuator system can be track step signal，square wave signal, sine wave signal precisely,and its rise time and overshoot can meet the requirements accurately.

Keywords  Electric actuator    Control systems     PID  algorithm Simulation

目次

1  绪论 1

1.1   舵机的发展 1

1.2   电动舵机的发展现状及趋势 2

1.3   本文的研究内容 5

2 电动舵机系统组成及其数学模型 7

2.1 伺服电机的选型及其数学模型 7

2.2 减速传动机构及其数学模型 17

2.3 PWM驱动器及其数学模型 18

2.4 反馈电位器及其数学模型 19

2.5 控制系统及其数学模型 20

2.6 本章小结 22

3 电动舵机系统仿真模型 22

3.1 电机本体模块 23

3.2 减速传动机构模块 25

3.3 PWM波脉宽调制模块 26

3.4 逻辑换相模块