摘要
设计了应用于直接驱动作动器(direct drive actuator,DDA)的电气/机械混合四余度无刷直流力矩电动机控制系统。为了解决DDA系统存在的小角度响应和系统稳定性这2个关键问题,在位置环加电流环的双闭环结构中引入了基于转速调节的电流限幅,位置环采用了适应小偏差输入的变结构PID控制算法。通过基于转速调节的电流限幅有效的提高了系统的稳定性,位置环采用的变结构PID控制算法保证了小角度响应的精度。同时,采用该控制方法后,系统具有较高的频响特性,在运行过程中能够实现余度平稳切换。DDA平台的实验结果充分验证了所设计的电气/机械混合四余度无刷直流力矩电动机控制系统的有效性。
WANG Wei,GUO Hong,XING Wei,LI Yan-ming,WANG Da-yu （School of Automation Science and Electrical Engineering,Beihang University,Haidian District,Beijing 100083,China）
A control system of electrical/mechanical hybrid four-redundancy brushless DC torque motor applied to the direct drive actuator （DDA） is designed. To improve the response to the low-angle and the stability of DDA for aerial uses,the double closed loop structure of the position and current is associated with the current limit block adjusted by the speed,and the position loop adopts the variable structure PID to suit the small input. This current limit block enhances effectively the stability of the control system,and the variable structure PID in the position loop increases the accuracy of the response to the low-angle. Meanwhile the proposed control strategy has good frequency response characteristics and realizes the redundancies switching smoothly in running. The experimental results of the test platform for DDA verify the control effect of this system.
出处
《中国电机工程学报》
EI
CSCD
北大核心
2010年第6期100-104,共5页
Proceedings of the CSEE
基金
新世纪优秀人才支持计划项目(NCET-04-0163)~~
关键词
作动器
冗余
无刷直流电机
位置伺服控制
变结构PID
actuators redundancy brushless DC motor position servo control variable structure PID
