无负载均衡控制的两余度舵机及其非线性补偿控制  

Study of No Load-averaging Controller and Nonlinear Compensation Control for Dual-redundancy EMA

作　　者：蒋志宏[1] 朱纪洪[2] 

机构地区：[1]北京理工大学宇航科学技术学院智能机器人研究所,北京100081 [2]清华大学计算机科学与应用技术系＆飞行器设计与研究中心,北京100084

出　　处：《微电机》2008年第5期13-16,共4页Micromotors

基　　金：国家863计划(2006xxxxx401);博士后基金(2005038308)

摘　　要：为了提高飞行器的可靠性和安全飞行,对基于无刷直流电机的两余度电动作动器进行了研究,提出采用差动式的运动合成构成机械输出两余度,无需负载均衡控制器便可消除通道间的负载均衡问题,可较为容易地实现两余度运行,同时,系统的局部余度设计可保证当一个通道局部出现故障时,作动器系统工作时仍具有一定的余度性。为了解决低速转矩脉动和补偿机械摩擦与齿隙等带来的非线性问题,提出速度偏置和采用变参数控制器的方法,可取得较好的控制效果。另外,采用PWM信号与转子位置信号结合的方法构成系统故障自检测(B IT)模块,可实现系统的故障上电预检测和在线动态检测。实验结果表明研究的两余度作动器具有较高的稳态精度、稳定性能和可靠性。Dual-redundancy EMA （Electromechanical Actuator） is studied in this paper for improving the reliability and safety of aircraft. The differential sport synthesization scheme is proposed for solving load-unbalance problem, which is a mechanical structure to turn two outputs into one output without load-averaging controller, and this structure can decrease the design requirement of controller to improve the stability and reliability of system, moreover, local-redundancy is designed for Dual-redundancy EMA, it can still guarantee some redundancy in system when some faults appear in one channel. The method with speed bias and variable parameters controller is presented to compensate nonlinear factors and pulsant torque in system. In addition, the rotator signal and PWM are used together to forms a BIT module for system, and it can realize fault detection and diagnosis for dual-redundancy EMA. The experimental results validate its system design, and show that the prototype of DR-EMA has fine performance, high stability and reliability.

关 键 词：两余度作动器 局部余度 差动合成 故障检测 无刷直流电动机 

分 类 号：TM361[电气工程—电机]