一种无人机用数字无刷电动推缸的设计

Digital Brushless Servo Cylinder Actuator for Unmanned Aerial Vehicles

实现了一种无人机(UAV)用数字无刷电动推缸,采用TMS320F2812型数字信号处理器(DSP)作为控制核心,以线性可变差动变压(LVDT)器作为反馈装置,以无刷直流电动机作为伺服电机,以滚珠丝杠副+摇臂机构作为执行机构以实现力矩的传递、直线运动和旋转转动的相互转化,实现了伺服系统的高实时性、高可靠性、高精度。试验测试结果表明,该系统对于1°/20 Hz输入信号的相位延迟为34.93°;对于10°阶跃的稳态误差达到0.08°;在20 N·m负载力矩加载条件下,角速度达到450.2°·s^1。

A digital brushless servo cylinder actuator for unmanned aerial vehicles(UAV) is designed,with a digital signal processor(DSP) TMS320 F2812 as control core,a linear variable differential transformer(LVDT) as position feedback device.Brushless DC motor is used as servo motor,and ball screw pairs and rocker arm organization combination is used as tranmission mechanism to transmit power and realize conversion between rotation motion and linear motion.The cylinder actuator has characteristics such as highly real-time,high reliability,high precision and so on.The experimental results show that the phase delay is 34.93° when a 1°/20 Hz sinusoidal signal is applied to the system,and the steady error is 0.08° for a 10° step input signal.When load moment is 20 N·m,the angular velocity came up to 450.2°·s-1.