光电吊舱永磁力矩电机控制系统设计与研制  

Design and development of photoelectric pod permanent magnet torque motor control system

作　　者：罗喜 张宇 赵磊 冯治国[1] LUO Xi;ZHANG Yu;ZHAO Lei;FENG Zhiguo(School of Mechanical Engineering,Guizhou University,Guiyang 550025,China;Guizhou Kaiminbo Mechanical&Electric Technology Co Ltd,Guiyang 550009,China)

机构地区：[1]贵州大学机械工程学院,贵州贵阳550025 [2]贵州凯敏博机电科技有限公司,贵州贵阳550009

出　　处：《传感器与微系统》2024年第6期88-92,共5页Transducer and Microsystem Technologies

基　　金：贵州省科技支撑计划资助项目(黔科合支撑[2021]一般280)。

摘　　要：针对目前光电吊舱控制系统中存在目标跟踪滞后以及稳定性差的问题,提出了一种基于位置前馈的三闭环力矩电机控制方法。根据某光电吊舱的控制性能参数与指标,设计了以STM32为控制核心的电机驱动控制器,给出了运行过程中电流、速度、位移响应曲线,并与传统控制系统下的波形进行了分析对比。考虑工作在恶劣环境下位置传感器遭受损坏,提出了基于扩展卡尔曼滤波(EKF)的无感控制算法。结果表明:该控制策略提高了电机运行过程中目标跟踪性能,有效抑制了电机转矩脉动。所设计的控制器设计可靠、性能稳定。Aiming at the problems of target tracking lag and poor stability in the current optoelectronic pod control system,a three-closed-loop motor control method based on position feedforward is proposed.According to the control performance parameters and indicators of a photoelectric pod,a motor drive controller using STM32 as control core is designed,and the current,speed and displacement response curves during operation are given,and the waveforms under the traditional control system are analyzed and compared.Considering that the position sensor is damaged in harsh environment,a sensorless control algorithm based on extended Kalman filtering(EKF)is proposed.The results show that the control strategy improves the target tracking performance during the motor operation and effectively suppresses motor torque pulsation.The designed controller is reliable in design and stable in performance.

关 键 词：光电吊舱 矢量控制 位置前馈控制 扩展卡尔曼滤波 

分 类 号：TM38[电气工程—电机]