Multi nonlinear of EMA system based on FA PID algorithm

DOI:	10.11809/bqzbgcxb2024.05.032
Keywords:	GP; EMA; backlash nonlinear; LuGre friction nonlinear; motor commutation discrimination; FA PID algorithm
Abstract:	In view of the conventional modeling for EMA (Electromechanical Actuator) of GP (Guided Projectile) often regards each part as a linear link, and the traditional three closed loop PID (Proportional Integral Derivative) algorithm cannot solve the problems of high frequency response and low overshoot in complex nonlinear system. In this study, the nonlinear links such as BLDCM (Brushless Direct Current Motor), dead zone backlash and LuGre friction inside EMA system were fully considered, and the EMA multi nonlinear control system was built. According to the non uniformity of EMA motion direction, the commutation discrimination module of BLDCM was designed. And the FA (Fuzzy Adaptive) PID intelligent algorithm was applied in APR (Automatic Position Regulator) of EMA three loop control system. The results show that the delay time, rise time, peak time and steady state error of small angle position response decreased by about 0.49%, 6.91%, 39.94%, and 94.44% respectively, compared with the traditional PID control. And further research on small angle square/sine position response tracking can also demonstrate the rapidity and robustness performance of the FA PID algorithm.
Published:	2024-05-31
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