无刷直流电机的滑模控制器的设计与仿真

无刷直流电机的滑模控制器的设计与仿真

摘要

舵伺服系统在航空航天领域，有着广泛应用和重要的研究价值。应用无刷直流电机作为舵系统执行器，可以增大系统输出转矩，实现系统小型化。本文基于无刷直流电机执行器，利用 DSP 与 FPGA 结合的核心处理单元，应用滑模变结构控制策略，实现舵机系统伺服，提高舵系统抗扰性和信号响应的快速性；并在系统中加入滑模观测器，实现对于系统内部状态量的观测，为实现无位置传感器控制提供条件本文应用无刷直流电机作为舵系统执行器，通过分析和设计滑模变结构控制算法，实现舵系统位置伺服控制，利用滑模变结构控制策略的特性，提高系统对于扰动和内部参数摄动的鲁棒性，与基于传统控制策略的伺服机构相比，系统的抗扰性得到了提高。并在系统中引入滑模观测器，利用电流、电压传感器采样相电流和相电压作为该观测器的给定量，观测出电机的速度，转子运动换相位置信号和三相反电动势波形，从而实现电机的无位置传感器控制。

本文通过分析舵伺服机构的主要结构和工作原理，根据实际系统技术要求，设计出基于电动伺服系统的数字控制器。利用 DSP 强大的数据处理能力和 FPGA 并行运算能力，实现设计的控制算法，提高舵系统的性能。通过 MATLAB 中 Simulink 环境下构建理想系统模型，应用滑模控制算法，进行模型仿真。通过系统仿真分析，设计出满足离散系统的滑模控制器参数。通过 DSP 与 FPGA 结合的核心处理单元实现滑模变结构控制算法，应用于舵伺服系统中[1]。最后，通过完成整体硬件与软件平台设计，实现对舵伺服系统的控制。通过仿真和实验结果分析，验证了滑模控制具有强鲁棒性和抗扰性，满足舵系统对于快速性和抗扰性的技术要求，提高了系统

整体控制性能。

关键字：滑模控制；滑模观测器；无刷直流电机；舵伺服系统；DSP+FPGA

Brushless dc motor of the sliding mode controller design

and simulation

Abstract

Rudder servo system is used in the aerospace field, it has important research value. Using BLDCM as the rubber system actuator, it will improve the system’s output torque, and achieve system’s miniaturization. Based on BLDCM actuator, combined DSP and FPGA as the core processing unit, using the strategy of sliding mode variable structure control achieve the rubber servo system which improve the robustness for disturbances and the speed for signal response. Adding sliding mode observer in the system realize the observation of internal system state which provide reliable parameters for the realization of position sensorless control

Through a brief analysis of rudder servo on both the main structure and working principle, based on the actual system technical requirements, this paper designs a digital controller which is based on electric servo system. Using DSP and FPGA as the core control unit, and the strong ability of DSP data processing and the ability of FPGA parallel computing , achieve the design of control algorithms, and improve performance of rubber system

Using BLDCM as the servo system actuator, through analysis and designing the algorithm of sliding mode control, this paper achieves the position servo control in rubber system. Using the characteristic of sliding mode variable structure improve the robustness for disturbance and inner parameters transformation. Compared with the control strategy based on traditional servo system, it improves the immunity of servo system. And adding sliding mode observer in the system, use circuit sensors and voltage sensors sample phase circuit and phase voltage as the giving quantities to observer. This paper rely on