Research on the Steering Engine Controller in Missile Based on Fractal Modified PID Algorithm

　　Research on the Steering Engine Controller in Missile Based on Fractal Modified PID Algorithm
　　Aiming at the steering gear machinery in some missiles,adopting the combined configuration of small rare earth torque motor and harmonic drive reducer, a combined control strategy is designed. Considering the change with velocity and small damp of harmonic drive, adopting the complement between linear model and fractal model, The increasing Special shape NdFeB magnets PID (Proportional–Integral–Derivative)control system based on the rate character of fractal geometry is its exact section.In the aspect of hardware system, two design steps are constituted. In the first period, the control system based on the structure of CPU+FPGA with USB2.0 has been designed to get the specialty of this system and obtain the suitable algorithm. Based on the anterior experience, in the second period, the DSP control system with CAN2.0 has been designed, which is more integrated and http://www.999magnet.com more dependable. The testing result indicates that this control system has the merits such as good capability of anti-jamming, excellent control quality, and so on.At the end of the paper, all factors that affect system performance are analyzed, and optimization designs are presented.