CN108491614A - A kind of fault modeling method of electric steering engine servo-drive system - Google Patents
A kind of fault modeling method of electric steering engine servo-drive system Download PDFInfo
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Abstract
The invention discloses a kind of fault modeling methods of electric steering engine servo-drive system, electric steering engine servo-drive system is divided into several functional units by this method according to its physical arrangement, the output of each functional unit is inputted with it with the relationship of determination when system is working properly, this relationship can be described with nominal model G (s), and due to the influence of failure when failure generation, cause this determining relationship of functional unit input and output residing for failure that will be broken, the surface phenomenon of mal-function is shown, is indicated with fault model G ' (s).Compared with prior art, the beneficial effects of the invention are as follows：It is divided into several functional units according to the physical arrangement of electric steering engine servo-drive system, consider functional unit internal state, output and input between correlation, establish the perfect fault model of each functional unit, to form system-wide fault model, and relatively failure can be positioned by each unit input and output.
Description
Technical field
The present invention relates to electromechanical servo system fault modeling method, especially a kind of failure of electric steering engine servo-drive system is built
Mould method.
Background technology
Control system failure theory generally comprises fault modeling, fault diagnosis, fault reconstruction and fault-tolerant decision and evaluation etc.
Content.System fault diagnosis and fault-tolerant design theory have been widely studied and have obtained a large amount of achievements at present, and about failure machine
Reason analysis and fault modeling theory need further to study.Fault modeling purpose is to establish the fault model of system, study
System mode and output presentation variation, reflecting between fault mode and fault signature can be set up by fault modeling when failure
Relationship is penetrated, and fault knowledge library can be formed, knowledge accumulation is provided for fault diagnosis and failure predication.
It is published in《Aerospace Control》The article of 05 phase in 2011《The fault modeling of spacecraft and application》Using failure-description
Matrix portrays actuator failure, can describe the entirely ineffective of executing agency's output quantity, partial failure or interval and lose
Effect.This method can only carry out executing agency on macro-level the description of limited kinds failure, can not determine failure
Position, is unfavorable for the analysis of failure.
Deficiency existing for Electrodynamic Rudder System fault modeling includes mainly at present：A) not thin enough to portraying for the system failure
It causes, failure can not be carried out to position and determines the source of failure；B) failure mode is described incomplete, be only capable of to limited several
Typical fault is modeled；C) influence of the failure to system output is only accounted for, does not account for failure to internal system state
Effect, is unfavorable for accident analysis.
Invention content
The invention aims to solve problems of the prior art, a kind of event of electric steering engine servo-drive system is provided
Hinder modeling method, the electric steering engine servo-drive system fault modeling method based on nominal model, using unified failure-description form
Each functional unit failure of system is described, the more complete fault model of total system can be obtained.
In order to achieve the above objectives, the present invention is implemented according to following technical scheme：
A kind of electric steering engine servo-drive system fault modeling method, this method is by electric steering engine servo-drive system according to its physics knot
Structure is divided into several functional units, and the output of each functional unit, which inputs to have with it, when system is working properly determines pass
System, this relationship can describe with nominal model G (s), and lead to function residing for failure due to the influence of failure when failure generation
This determining relationship of unit input and output will be broken, and show the surface phenomenon of mal-function, be indicated with fault model G ' (s).The present invention
It is that failure factor is added on the basis of normal system presentation to be formed to think all the surface phenomenon of mal-function all, and different failure factors causes
Different the surface phenomenon of mal-function.Therefore, each functional unit is pressed physics by the fault model that functional unit can be established by the method
Relationship is connected with each other to obtain complete system failure model, is analyzed so as to the various failures to system, specific steps are such as
Under：
Step 1: electric steering engine servo-drive system is divided into multiple functions according to the physical arrangement of electric steering engine servo-drive system
Then unit establishes the nominal model of each functional unit of electric steering engine servo-drive system, according still further to electric steering engine servo-drive system
The nominal model of each functional unit is connected to each other by physical connection and signal flow direction establishes the mark for forming electric steering engine servo-drive system
Title model, wherein functional unit include：
Controller is built by analog circuit and realizes variable-structure control rule, and flight control system instruction and position feed back signal are received,
Control algolithm is executed, controlled quentity controlled variable is exported in the form of duty ratio；
Analog line driver is made of H-bridge circuit, and the motor driven voltage value of corresponding amplitude is exported according to duty ratio size,
Analog line driver is a saturation element, and bound is the amplitude of steering gear power voltage；
Servo motor can be described, transmission function is using permanent magnet DC motor with two―step element：
In formula, KmFor motor amplification coefficient, τmFor its electromechanical time constant, ω (s) is motor angular velocity, and θ (s) is motor
Output angle, uv(s) it is machine winding both end voltage；
Retarder considers retarder drive gap, proportional component+delay link can be used to indicate；
Feedback transducer mostly uses plastic potentiometer, converts the angular displacement of executing agency to the voltage of equal proportion, passes
Delivery function is a proportional component；
Step 2: functional unit accident analysis and fault modeling：By each functional unit failure mould of electric steering engine servo-drive system
Formula and fault model are expressed as：
Controller, it is main to realize instruction and the calculating of feedback error amount and the generation of controlled quentity controlled variable, Main physical composition portion
Part is operational amplifier, and the fault type of controller includes mainly：(a) amplifier output saturation, (b) amplifier gain misalignment,
(c) amplifier poor contact；
If controller simulation model transfer function is Gc(s), controller output is under normal condition
uc=Gc(s)·(Um-Uf)=Gc(s)Ue
In formula, UeFor error originated from input amount, ucTo export controlled quentity controlled variable, the output of controller in failure conditions is expressed as
In formula, const is the saturation output for indicating controller, all uncorrelated to its input signal and output signal；Δ G is
The coefficient of amplifier gain misalignment is described；f1(t) it is the function for describing poor contact, by random 0/1 function representation；
Analog line driver, failure mainly appear on H bridge power amplification circuits part, include mainly：(a) power tube open circuit,
(b) power tube short circuit, (c) power voltage exception, the poor contact of (d) lead-out wire；
Analog line driver is the bilateral amplitude limit link of voltage in mathematical model, so mainly being showed in its failure mathematical model
For the influence to amplitude limit form, if link input is uc, export as uv, amplitude limit link is expressed as
In formula, umax=Vcc, umin=-Vcc, if power module output is u when failurev', the power mould when failure occurs
The model of block is expressed as：
Failure (a)：Consider single power tube open circuit, there is umin=0 or umax=0, uv'=uv；
Failure (b)：uv'=0；
Failure (c)：
Wherein, uLAnd uHThe minimum and ceiling voltage that respectively system worked well allows；
Failure (d)：uv'=uv·f1(t), f1(t) random function that value is 0/1；
Servo motor, electrical fault are mainly three classes：(a) magnet steel demagnetization, the short circuit of (b) machine winding, (c) machine winding are opened
Road, failure (a) can cause the gain reduction of motor, performance to decline；Failure (b) and (c) will lead to machine winding voltage difference of the two ends
It is zero to leave the motor off work, if motor model is G under normal circumstancesd(s), electrical fault model indicates under fault condition
For
G′d(s)=f1(t)·(Gd+ΔGd) (s),
In formula, Δ GdIndicate that failure (a) leads to the change of the parameters such as motor gain, time constant；Failure (b) and failure
(c) it is zero to lead to motor output, takes f1(t)=0；
Retarder, the failure that its retarder is likely to occur in the process of running mainly have：(a) mechanical clearance increase, (b) machine
Tool is stuck, (c) structural break；Failure (a) is to cause system delay to increase since work causes transmission to wear or beats tooth when system is long
Greatly, performance declines；The output of retarder angle will remain in the position of fault moment when failure (b) occurs, and instruction can not be followed to become
Change；When failure (c) occurs, the retarder internal mechanical structure output shaft that is damaged is hanging, angle will no longer by instruction control and with
External world's load variation；If former functional unit mechanical delay link is h (s)=e-τsIf delay increases τ ' after failure (a) occurs, then
Delay link becomes after failure
H ' (s)=e-(τ+τ′)s,
If the functional unit angle output function is δ (t), the angle output in failure (b) becomes
In formula, t1For the generation moment of failure (b),
Angle output in the case of failure (c) becomes
In formula, t2The moment occurs for structural break failure；g1(t) changing rule of angle after occurring for failure, by outside
Load determines；
Feedback transducer, position feedback transducer include using potentiometer, the failure of generation：(a) output with power supply short circuit,
(b) conductive film partial exfoliation, (c) wire contacts it is bad, (d) abrasion；Position sensor is shown as linearly under normal circumstances
Proportional component, i.e. Uf(t)=K δ (t), K are the proportionality coefficient of sensor, and failure (a) causes sensor output just not with angle
Variation, but constant；Failure (b) and failure (c) cause sensor output to become Uf1(t)=f1(t) K δ (t), wherein f1
(t) it is the non-linear effects factor or is intended to indicate that 0/1 random function of poor contact；Failure (d) causes noise to increase, and passes
Sensor output becomes Uf2(t)=Uf(t)+N (t), N (t) are additional noise signal；
Step 3：The system failure models：It, will according to physical connection and signal flow direction after each functional unit fault model is built up
The fault model of each functional unit, which is connected to each other to establish, forms the fault model of electric steering engine servo-drive system.
Compared with prior art, the beneficial effects of the invention are as follows：According to the physical arrangement of electric steering engine servo-drive system by its
Be divided into several functional units, consider functional unit internal state, output and input between correlation, establish each function
The perfect fault model of unit to form system-wide fault model, and can pass through each unit input and output relatively pair event
Barrier is positioned.This method has applicability for other control systems.
Description of the drawings
Fig. 1 is the nominal model of the normal Input output Relationship of functional unit indicated with transmission function.
Fig. 2 is the nominal model for the electric steering engine servo-drive system that the present invention establishes.
Fig. 3 is the functional unit fault model generalized expression based on nominal model.
Fig. 4 is the specific implementation flow chart of the method for the present invention.
Specific implementation mode
With reference to specific embodiment, the invention will be further described, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
Embodiments of the present invention are：The output that failure causes functional unit state to change to make system deviates just
Constant value, therefore the output presentation based on functional unit can consider that fault model is to introduce ginseng on the basis of its nominal model
The failure factors composition such as number variation, input nonlinearities.Referring to Fig.1, consider SISO systems, its nominal model can adopt under normal condition
It is described with transmission function G (s), then system output expression formula is
Y=G (s) u
With reference to Fig. 3, on the basis of nominal model, functional unit fault model can be by connecting to original mathematical model
It is indicated with corresponding failure-description link in parallel.Therefore, the fault model output expression formula of functional unit is
Y={ f1(t)(G+ΔG)[u+g1(t)]+f1(t)g2(t)+g3(t)}β1+[f2(t)g4(t)+g5]β2,
In formula, f1(t)-description seals in the failure factor in system, can be gain, linear, nonlinear function；f2
(t) response of-strong fault condition system external circle of description can be gain, linear, nonlinear function；g1(t)、g2(t)、g3
(t)、g4(t)、g5(t)-input variable can be external interference, the failure function that fault parameter inputs, somewhere introduces in model
Deng；β1(t)、β2(t)-gating variable, value are 0 or 1.
With reference to Fig. 4, specific implementation step of the invention includes：
Step 1：System nominal model is established.Electric steering engine servo-drive system is a kind of high-precision positional servosystem, it
It is the final executing agency of various electric-controlled mechanical movements on the aircraft such as spacecraft.Its nominal mathematics can be established according to professional knowledge
Model, a typical model are as shown in Figure 2.
Step 2：Asystem function unit divides.Internal system component is divided into according to its function in entirety several
A functional unit.The division of functional unit should be according to following criterion：Independence --- functional unit is can to complete a certain work(
The separate unit of energy, can be comprised of multiple members, and can also be single component composition, have determining output and input；
Single-input single-output --- in order to be indicated with unified form when converting simulation model to fault model, in functional unit failure
, it is specified that functional unit is sub-divided into single-input single-output grade when modeling；Failure influences --- and functional unit can be by the shadow of failure
It rings, and there is certain explicitly to show in output；Maximize --- under the premise of being divided in of functional unit meets mission requirements
It maximizes.
According to the above principle, electric steering engine servo-drive system can be divided into following functions unit：
(1) controller.It is built by analog circuit and realizes variable-structure control rule, receive flight control system instruction and position feedback letter
Number, control algolithm is executed, controlled quentity controlled variable is exported in the form of duty ratio.
(2) analog line driver.It is made of H-bridge circuit, the motor driven voltage of corresponding amplitude is exported according to duty ratio size
Value, analog line driver are a saturation element, and bound is the amplitude of steering gear power voltage.
(3) servo motor.Using permanent magnet DC motor, can be described with two―step element, transmission function is：
In formula, KmFor motor amplification coefficient, τmFor its electromechanical time constant, ω (s) is motor angular velocity, and θ (s) is motor
Output angle, uv(s) it is machine winding both end voltage.
(4) retarder.Consider retarder drive gap, proportional component+delay link can be used to indicate.
(5) feedback transducer.Plastic potentiometer is mostly used, converts the angular displacement of executing agency to the voltage of equal proportion
Amount, transmission function are a proportional component.
Step 3：Functional unit accident analysis and fault modeling.Functional unit is considered as autonomous system, it is common to analyze its
Fault mode establishes the fault model of each functional unit according to fault modeling method.
Each functional unit fault mode of electric steering engine servo-drive system and fault model are expressed as：
(1) controller.It is main to realize instruction and the calculating of feedback error amount and the generation of controlled quentity controlled variable, Main physical composition
Component is operational amplifier.The fault type of controller includes mainly：(a) amplifier output saturation, (b) amplifier gain are lost
Accurate, (c) amplifier poor contact.
If controller simulation model transfer function is Gc(s), controller output is under normal condition
uc=Gc(s)·(Um-Uf)=Gc(s)Ue
In formula, UeFor error originated from input amount, ucTo export controlled quentity controlled variable, then the output of controller can indicate in failure conditions
For
In formula, const is the saturation output for indicating controller, all uncorrelated to its input signal and output signal；Δ G is
The coefficient of amplifier gain misalignment is described；f1(t) it is the function for describing poor contact, by random 0/1 function representation.
(2) analog line driver.Failure mainly appears on H bridge power amplification circuits part, includes mainly：(a) power tube is opened
Road, (b) power tube short circuit, (c) power voltage exception, the poor contact of (d) lead-out wire.
Power module is the bilateral amplitude limit link of voltage in mathematical model, so being mainly shown as in its failure mathematical model
Influence to amplitude limit form.If link input is uc, export as uv, amplitude limit link is expressed as
In formula, umax=Vcc, umin=-Vcc.
If power module output is u ' when failurev, then when failure occurs, the model of power module can be expressed as：
Failure (a)：Consider single power tube open circuit, there is umin=0 or umax=0, u 'v=uv。
Failure (b)：u′v=0.
Failure (c)：
Wherein, uLAnd uHThe minimum and ceiling voltage that respectively system worked well allows.
Failure (d)：u′v=uv·f1(t), f1(t) random function that value is 0/1.
(3) servo motor.Electrical fault is mainly three classes：(a) magnet steel demagnetization, (b) machine winding short circuit, (c) motor around
Group open circuit.Failure (a) can cause the gain reduction of motor, performance to decline；Failure (b) and (c) will cause machine winding both ends electric
Pressure difference is zero to leave the motor off work.
If motor model is G under normal circumstancesd(s), then electrical fault model is represented by under fault condition
G′d(s)=f1(t)·(Gd+ΔGd)(s)
In formula, Δ GdIndicate that failure (a) leads to the change of the parameters such as motor gain, time constant；Failure (b) and failure
(c) it is zero to lead to motor output, takes f1(t)=0.
(4) retarder.The failure that its retarder is likely to occur in the process of running mainly has：(a) mechanical clearance increase,
(b) mechanical stuck, (c) structural break.Failure (a) is to lead to system since work causes transmission to wear or beats tooth when system is long
Delay increases, performance declines；The output of retarder angle will remain in the position of fault moment when failure (b) occurs, and can not follow
Instruction variation；When failure (c) occurs, retarder internal mechanical structure is damaged, and output shaft is hanging, and angle will be controlled no longer by instruction
It makes and changes with external world's load.
If former functional unit mechanical delay link is h (s)=e-τsIf delay increases τ ' after failure (a) occurs, then failure
Delay link becomes afterwards
H ' (s)=e-(τ+τ′)s
If the functional unit angle output function is δ (t), the angle output in failure (b) becomes
In formula, t1For the generation moment of failure (b).
Angle output in the case of failure (c) becomes
In formula, t2The moment occurs for structural break failure；g1(t) changing rule of angle after occurring for failure, by outside
Load determines.
(5) feedback transducer.Position feedback transducer uses potentiometer, and the failure of generation includes：(a) it exports short with power supply
Road, (b) conductive film partial exfoliation, (c) wire contacts are bad, (d) abrasion.
Position sensor shows as linear scale link, i.e. U under normal circumstancesf(t)=K δ (t), K are sensor
Proportionality coefficient.Failure (a) causes sensor output just not with angle change, but constant；Failure (b) and failure (c) cause to pass
Sensor output becomes Uf1(t)=f1(t) K δ (t), wherein f1(t) it is the non-linear effects factor or is intended to indicate that contact
Undesirable 0/1 random function；Failure (d) causes noise to increase, and sensor output becomes Uf2(t)=Uf(t)+N (t), N (t) are
Additional noise signal.
Step 4：The system failure models.It, will be each according to physical connection and signal flow direction after functional unit fault model is built up
The fault model of functional unit, which is connected to each other to establish, forms the fault model of system.
Then, so that it may to carry out simulation analysis to the fault model of system, under various fault modes, emulate and analyze and be
Unite each functional unit failure system state and the influence of output, and can be by each functional unit input and output relatively to failure
It is positioned.
Technical scheme of the present invention is not limited to the limitation of above-mentioned specific embodiment, every to do according to the technique and scheme of the present invention
The technology deformation gone out, each falls within protection scope of the present invention.
Claims (1)
1. a kind of fault modeling method of electric steering engine servo-drive system, which is characterized in that include the following steps：
Step 1: electric steering engine servo-drive system is divided into multiple function lists according to the physical arrangement of electric steering engine servo-drive system
Then member establishes the nominal model of each functional unit of electric steering engine servo-drive system, according still further to the object of electric steering engine servo-drive system
The nominal model of each functional unit is connected to each other to establish by reason connection and signal flow direction forms the nominal of electric steering engine servo-drive system
Model, wherein functional unit include：
Controller is built by analog circuit and realizes variable-structure control rule, receives flight control system instruction and position feed back signal, executes
Control algolithm exports controlled quentity controlled variable in the form of duty ratio；
Analog line driver is made of H-bridge circuit, and the motor driven voltage value of corresponding amplitude, power are exported according to duty ratio size
Driver is a saturation element, and bound is the amplitude of steering gear power voltage；
Servo motor is described using permanent magnet DC motor with two―step element, and transmission function is：
In formula, KmFor motor amplification coefficient, τmFor its electromechanical time constant, ω (s) is motor angular velocity, and θ (s) exports for motor
Angle, uv(s) it is machine winding both end voltage；
Retarder is considered retarder drive gap, is indicated using proportional component+delay link；
Feedback transducer mostly uses plastic potentiometer, converts the angular displacement of executing agency to the voltage of equal proportion, transmits letter
Number is a proportional component；
Step 2: functional unit accident analysis and fault modeling：By each functional unit fault mode of electric steering engine servo-drive system and
Fault model is expressed as：
Controller, it is main to realize that instruction and the calculating of feedback error amount and the generation of controlled quentity controlled variable, Main physical building block are
The fault type of operational amplifier, controller includes mainly：(a) amplifier output saturation, (b) amplifier gain misalignment, (c) are put
Big device poor contact；
If controller simulation model transfer function is Gc(s), controller output is under normal condition
uc=Gc(s)·(Um-Uf)=Gc(s)Ue
In formula, UeFor error originated from input amount, ucTo export controlled quentity controlled variable, the output of controller in failure conditions is expressed as
In formula, const is the saturation output for indicating controller, all uncorrelated to its input signal and output signal；Δ G is description
The coefficient of amplifier gain misalignment；f1(t) it is the function for describing poor contact, by random 0/1 function representation；
Analog line driver, failure mainly appear on H bridge power amplification circuits part, include mainly：(a) power tube open circuit, (b) work(
Rate tube short circuit, (c) power voltage exception, the poor contact of (d) lead-out wire；
Analog line driver is the bilateral amplitude limit link of voltage in mathematical model, so being mainly shown as in its failure mathematical model pair
The influence of amplitude limit form, if link input is uc, export as uv, amplitude limit link is expressed as
In formula, umax=Vcc, umin=-Vcc, if power module output is u ' when failurev, the mould of power module when failure occurs
Type is expressed as：
Failure (a)：Consider single power tube open circuit, there is umin=0 or umax=0, u 'v=uv；
Failure (b)：u′v=0；
Failure (c)：
Wherein, uLAnd uHThe minimum and ceiling voltage that respectively system worked well allows；
Failure (d)：u′v=uv·f1(t), f1(t) random function that value is 0/1；
Servo motor, electrical fault are mainly three classes：(a) magnet steel demagnetization, the short circuit of (b) machine winding, (c) machine winding open circuit,
Failure (a) can cause the gain reduction of motor, performance to decline；Failure (b) and (c) will cause machine winding voltage difference of the two ends to be zero
To leave the motor off work, if motor model is G under normal circumstancesd(s), electrical fault model is expressed as under fault condition
G′d(s)=f1(t)·(Gd+ΔGd) (s),
In formula, Δ GdIndicate that failure (a) leads to the change of the parameters such as motor gain, time constant；Failure (b) and failure (c) cause
Motor output is zero, takes f1(t)=0；
Retarder, the failure that its retarder is likely to occur in the process of running mainly have：(a) mechanical clearance increases, (b) machinery blocks
Extremely, (c) structural break；Failure (a) is since work causes transmission to wear or beats tooth when system is long, system delay is caused to increase,
Performance declines；The output of retarder angle will remain in the position of fault moment when failure (b) occurs, and instruction can not be followed to change；
When failure (c) occurs, retarder internal mechanical structure is damaged, and output shaft is hanging, and angle will be no longer by instruction control and with the external world
Load variation；If former functional unit mechanical delay link is h (s)=e-τsIf delay increases τ ' after failure (a) occurs, then failure
Delay link becomes afterwards
H ' (s)=e-(τ+τ′)s,
If the functional unit angle output function is δ (t), the angle output in failure (b) becomes
In formula, t1For the generation moment of failure (b),
Angle output in the case of failure (c) becomes
In formula, t2The moment occurs for structural break failure；g1(t) changing rule of angle after occurring for failure, by external loading
It determines；
Feedback transducer, position feedback transducer include using potentiometer, the failure of generation：(a) output and power supply short circuit, (b)
Conductive film partial exfoliation, (c) wire contacts are bad, (d) is worn；Position sensor shows as linear scale under normal circumstances
Link, i.e. Uf(t)=K δ (t), K are the proportionality coefficient of sensor, and failure (a) causes sensor output just not become with angle
Change, but constant；Failure (b) and failure (c) cause sensor output to become Uf1(t)=f1(t) K δ (t), wherein f1(t)
For the non-linear effects factor or it is intended to indicate that 0/1 random function of poor contact；Failure (d) causes noise to increase, sensing
Device output becomes Uf2(t)=Uf(t)+N (t), N (t) are additional noise signal；
Step 3：The system failure models：After each functional unit fault model is built up, flowed to each work(according to physical connection and signal
Can the fault model of unit be connected to each other to establish and form the fault model of electric steering engine servo-drive system.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112415980A (en) * | 2020-11-04 | 2021-02-26 | 上海莘汭驱动技术有限公司 | Fault diagnosis method of control system based on direct current electric mechanism simulator |
| CN112650112A (en) * | 2020-12-18 | 2021-04-13 | 湖南金翎箭信息技术有限公司 | Steering engine control method |
| CN113791537A (en) * | 2021-08-03 | 2021-12-14 | 北京航空航天大学 | Electric steering engine servo system capable of overcoming gap disturbance and control method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112415980A (en) * | 2020-11-04 | 2021-02-26 | 上海莘汭驱动技术有限公司 | Fault diagnosis method of control system based on direct current electric mechanism simulator |
| CN112650112A (en) * | 2020-12-18 | 2021-04-13 | 湖南金翎箭信息技术有限公司 | Steering engine control method |
| CN112650112B (en) * | 2020-12-18 | 2024-02-27 | 湖南金翎箭信息技术有限公司 | Steering engine control method |
| CN113791537A (en) * | 2021-08-03 | 2021-12-14 | 北京航空航天大学 | Electric steering engine servo system capable of overcoming gap disturbance and control method thereof |
| CN113791537B (en) * | 2021-08-03 | 2023-12-15 | 北京航空航天大学 | Electric steering engine servo system for overcoming clearance disturbance and control method thereof |
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