Sliding Mode Control System of Electric Steering Gear Based on FPGA
Electric steering gear is a key component of modern UAV flight control system.Aiming at the problems of poor interference suppression ability,low tracking accuracy and slow response speed of tradition-al electric steering gear system,an improved and optimized sliding mode control(SMC)algorithm was pro-posed.Firstly,the nonlinear problems such as external disturbance and friction clearance were fully consid-ered in the system modeling and experimental platform construction.Based on this,a new sliding mode sur-face function was designed;Secondly,the switching control function was redesigned to make the deflection Angle of the rudder more accurate and effectively improve the tracking accuracy of the system;Finally,a first-order low-pass filter was introduced into the system to effectively eliminate the chattering problem of con-trol quantity.The algorithm was realized by FPGA chip and verified by design experiment.The experimental results show that compared with the traditional PID algorithm,the improved sliding mode control algorithm has stronger interference suppression ability and faster dynamic response speed,and the tracking error was reduced obviously.It can be seen that the algorithm has strong advantages in solving the nonlinear problems of electric steering gear,and basically meets the precise control requirements of rudder deflection.It has strong practical application value in the production practice of UAV products.
electric steering gearsliding mode control algorithmFPGAPIDPWM
万方数据
维普
