机载直驱式机电作动器的伺服控制器设计研究

Design of Controller for Airborne Direct Drive Electro-Mechanical Actuators

以高性能数字信号处理器(DSP)和高集成度复杂可编程逻辑器件(CPLD)为核心,为直驱式双余度机电作动器(EMA)设计了伺服控制器。首先对直驱式EMA及其控制系统的总体结构及工作原理进行了介绍;接着对控制器硬件,包括控制电路以及功率电路进行了详细设计;然后基于磁场定向的矢量控制,给出了位置、速度、电流三闭环控制方案,并对EMA所用的六相双绕组永磁同步电机进行了电流均衡性控制;最后,对所设计的控制器进行了实验验证。实验结果表明,控制器设计方案具备可行性和实用性。

Based on a digital signal processor（DSP） and a complicated programmable logic device（CPLD）,a servo controller is designed for a direct drive electro-mechanical actuator（EMA）.Firstly,the architecture of the direct drive EMA and its control system and the principles are introduced.Secondly,detailed design schemes of hardware,including both control and power circuit,are put forward.Thirdly,based on field-oriented control（FOC） scheme,controllers for the displacement loop,speed loop and current loop are designed,and symmetrical current control is implemented in double windings of the 6-phase PMSM used in the EMA.Finally,verified by experiments,the controller scheme is feasible and practical.