有感FOC无刷直流电机驱动技术的三轴增稳云台研究

Research on Three-axis Gimbal of Sensored FOC DC Brushless Motor Drive Technology

本文针对三轴增稳云台对所搭载负载变动的适应性问题,研究了一种基于有感磁场定向控制(FOC)的无刷直流电机驱动的三轴增稳云台控制方法.首先根据无刷直流电机的参数,建立FOC转矩控制模型.在此基础上,结合MEMS惯性传感器和姿态解算,研究了一种可适应多种不同负载的增稳云台控制方法.实验研究结果表明,这种控制方法能够在一定范围内适应多种不同的负载,鲁棒性强。

We investigate the adaptability of variable load problem for three-axis gimbal, and develop a control method of three- axis gimbal based on sensored FOC DC brushless motor drive technology.First, we establish the FOC torque control model according to the parameters of DC brushless motor.On the basis of the established model, combined with MEMS inertial sensor and attitude solution, we study a kind of control method which can adapt to a variety of different loads.Experiments demonstrate that the control method is robust and can effectively adapt to different loads.