带温度补偿的双余度舵机伺服控制算法研究

Research on Algorithm of Dual Redundant Actuator with Temperature Compensation

针对双余度舵机不同控制通道间速度环输出指令存在偏差、电流冲击和输出转矩波动等问题,提出了一种带温度补偿的双余度舵机伺服控制算法。首先,采用积分均衡的方法抑制传感器和双通道控制器解算误差引起的速度环输出指令的差异,然后采用电流截止负反馈的方法减小负载扰动和电机过渡过程带来的电流冲击,最后通过对电机进行温度补偿来减小环境温度和本体升温对输出转矩的影响;仿真结果表明,该算法能够有效抑制速度环输出指令误差和减小电流冲击,使电机在不同的工作温度下保持良好的性能。

Aimed to the problems of speed loop instruction error, current shock and torque ripple during the dual-redundancy actuator process, a servo-control method is discussed in this paper. Firstly, the integral equilibrium is adopted to restrain the speed loop instruction error of sensors and two-channel controller calculating. Then the current shock generated by load disturbance and motor transition process is alleviated with current cut-off feedback. Finally, the temperature compensation is applied to neutralize the torque ripple caused by envi- ronment temperature and motor heat. The simulation result shows that the method can effectively assure the motor performing satisfactorily under different conditions.