[1]李晨毓,祖家奎,刘佳晖,等.中型无人直升机电动舵机控制器设计与实现[J].机械与电子,2021,(10):57-62.
　LI Chenyu,ZU Jiakui,LIU Jiahui,et al.Design and Implementation of Electromechanical Actuator Controller for Medium-sized Unmanned Helicopter[J].Machinery & Electronics,2021,(10):57-62.
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中型无人直升机电动舵机控制器设计与实现()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2021年10期
页码:
57-62
栏目:
自动控制与检测
出版日期:
2021-10-24

文章信息/Info

Title:
Design and Implementation of Electromechanical Actuator Controller for Medium-sized Unmanned Helicopter
文章编号:
１００１-２２５７ ( ２０２１ ) １０-００５７-０６
作者:
李晨毓; 祖家奎; 刘佳晖; 高尚文
南京航空航天大学自动化学院,江苏 南京 ２１１１０６
Author(s):
LI Chenyu ;  ZU Jiakui ;  LIU Jiahui ;  GAO Shangwen
( College of Automation Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing ２１１１０６ , China )
关键词:
无人直升机; 电动舵机; 控制器;  DSP ;  FPGA
Keywords:
unmanned helicopter ;  electromechanical actuator ;  controller ;  DSP ;  FPGA
分类号:
TP２７３ ; V２４９. １
文献标志码:
A
摘要:
针对某中型无人直升机对电动舵机控制回路的特殊需求,设计了一种以“ DSP ＋ FPGA＋ 功率驱动”为主控单元的舵机控制器.其软件设计遵循模块化和层次化的原则;其硬件由主控模块、驱动模块、信号采集模块和电源模块协同合作,能够同时对 ５ 路电动舵机进行控制.针对舵机控制过程中存在的“快、准、稳”问题,提出一种外环采用线性自抗扰控制、内环采用常规控制的复合控制策略;同时搭建相应的测试验证环境.测试和实际试飞结果表明,该舵机控制器解决了负载动态变化的不确定性和小信号指令跟踪差的突出问题,取得了较好的工程应用效果.
Abstract:
According to the special requirements of a medium-sized unmanned helicopter for electromechanical actuator control loop , a kind of actuator controller with “ DSP＋ FPGA ＋power drive” as the main control unit is designed．The software design follows the principle of modularization and hierarchy ; The hardware design consists of the main control module , drive module , signal acquisition module and power module , which can control the five channel electric actuator at the same time． In order to solve the problem of “ fast , accurate and stable ” in the process of rudder control , a compound control strategy with linear active disturbance rejection control in the outer loop and conventional control in the inner loop is proposed ; At the same time , build the corresponding test and verification environment are built．The test and actual flight test results show that the controller solves the outstanding problems of the uncertainty of load dynamic change and the poor tracking of small signal command , and achieves good engineering application effect．

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: ２０２１-０５-２８
作者简介:李晨毓 ( １９９８－ ),男,陕西韩城人,硕士研究生,研究方向为飞行控制与仿真技术;祖家奎 ( １９７４－ ),男,江苏徐州人,博士,副研究员,研究方向为无人机飞行控制、嵌入式系统;刘佳晖 ( １９９７－ ),男,江苏扬州人,硕士研究生,研究方向为飞行控制与仿真技术;高尚文 ( １９９６－ ),男,江苏徐州人,硕士研究生,研究方向为飞行控制与仿真技术.
更新日期/Last Update: 2021-11-11