基于无刷电机的力反馈摇杆系统设计  

Design of a Force Feedback Joystick System Based on a Brushless Motor

作　　者：王娟 司徒嘉皓 宋丽君 Wang Juan;Situ Jiahao;Song Lijun(School of Electrical Engineering and Automation,Luoyang Institute of Science and Technology,Luoyang,Henan 471023,China)

机构地区：[1]洛阳理工学院电气工程与自动化学院,河南洛阳471023

出　　处：《机电工程技术》2024年第10期217-220,共4页Mechanical & Electrical Engineering Technology

摘　　要：根据对准确性与响应速度的要求,选用无刷电机作为摇杆的核心驱动部件,并建立了无刷电机的数学模型。选择了磁场定向控制(FOC)策略作为摇杆力反馈的核心算法。通过Clarke变换和Park变换进行坐标系转换,实现电机定子电流的解耦,Park逆变换和Clarke逆变换将电机定子的电流从控制坐标系转换回实际电机所需的三相信号,实现高精度和快响应的电机控制,为控制系统的设计提供了理论基础。对力反馈摇杆控制系统响应速度、稳定性和控制精度、力反馈体验等各个方面进行了测量和观察。测试结果表明,该力反馈摇杆系统在各项指标上均达到了预期效果,能够提供细腻、真实的力反馈体验。此次设计展示了无刷电机在力反馈控制系统中的应用潜力,并为未来的系统优化和应用拓展提供了一定的参考依据。According to the requirement of accuracy and response speed,the brushless motor is selected as the core driving part of the rocker,and the mathematical model of the brushless motor is established.Field oriented control(FOC)strategy is chosen as the core algorithm of force feedback of rocker.The coordinate system is converted by Clarke transform and Park transform to realize the decoupling of motor stator current.Park inverse transformation and Clarke inverse transformation convert the motor stator current from the control coordinate system to the threephase signal required by the actual motor to realize the motor control with high precision and fast response,which provides a theoretical basis for the design of the control system.The response speed,stability,control precision and experience of force feedback rocker control system are measured and observed.The test results show that the force feedback rocker system has achieved the expected effect in all indexes,and can provide a delicate and real force feedback experience.This design shows the application potential of brushless motor in force feedback control system,and provides a certain reference for future system optimization and application expansion.

关 键 词：无刷电机 磁场定向控制 力反馈 摇杆 

分 类 号：TM3[电气工程—电机]