中型无人直升机电动舵机控制器设计与实现

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.

Design and Implementation of Electromechanical Actuator Controller for Medium-sized Unmanned Helicopter

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．