摘要
电动作动器系统是飞行自动控制系统不可缺少的关键组成部分,它能否可靠工作直接决定飞行器是否能安全飞行,因此,高可靠性电动作动器的研究受到了航空航天领域的广泛关注。可靠性技术的发展正经历从初级的余度技术发展到高级的容错技术。本论文正是在研究四相永磁容错电机的基础上设计其控制系统,旨在通过容错技术提高电动作动器系统的可靠性。
四相永磁容错电机作为一种新颖的电机,目前国内外相关的文献资料较少,因此本文首先对其进行了大量基础性的研究。在分析四相永磁容错电机结构和原理的基础上,建立了四相永磁容错电机在旋转坐标系下的数学模型,为实现电流、磁链、转矩的解耦控制创造了条件。在此基础上建立了基于电流滞环比较的矢量控制仿真模型,验证了解耦控制效果。
不同于传统三相调速系统的空间电压矢量脉宽调制(SVPWM),本文提出了一种新颖的基于H桥驱动的四相永磁容错电机的SVPWM策略,并巧妙设计了零矢量的插入顺序和重合矢量的选择顺序,方便了DSP的数字实现。
为了弥补矢量控制过分依赖数学模型的不足,本文将模糊控制与神经网络有机结合起来设计了神经模糊控制器作为矢量控制的速度调节器,以此来改善控制系统的动静态性能,仿真结果证明了该方法的有效性。
在设计容错驱动器的基础上,将电机集成系统中的电机、逆变器和控制算法统筹考虑,提出了一套简单、适用且高效的故障诊断和容错控制方案,并提出了一种基于四相SVPWM控制和容错转矩控制的双模控制策略。
最后,设计完成了一套基于TMS320F2812的高可靠电动作动器控制系统的原理样机,编制了系统的软件程序,最终实现了双闭环转速调节。
理论分析和试验表明,所设计的基于四相永磁容错电机的电动作动器具有很强的容错能力和很高的可靠性。因此,本课题对高可靠性电动作器的发展具有很大的理论意义和使用价值。
Electro-mechanical actuator (EMA) is an indispensable key part in the flight control system and its reliability has an important impact on the flight safty. Research in the reliability engineering is experiencing a great transition from the early redundant stage to advanced fault-tolerant technology. In this paper, a four-phase fault-tolerant permanent magnet motor (FTPMM) is studied and used in designing a high-reliability EMA with fault-tolerant technique.
As a novel motor, there is rarely any literature about the four-phase FTPMM so far, which leads to the basic research about its characters in this paper. First of all, after the study of its structure and principle, its mathematical model is presented to decouple the current, stator flux and torque of the motor. Then, we develop the simulation model to verify the performance of the decoupling control.
Different from traditional there-phase SVPWM, A novel voltage space vector pulse width modulation (SVPWM) method for Four-phase FTPMM driven by H bridges is presented in this paper, and the insertion sequence of the zero vector as well as the performance sequence of the coincidence-sector is designed to convenience its DSP implementation.
In order to cover the shortage of the vector control, a Neuro- Fuzzy controller is designed with the combination of fuzzy control and neural network, which is performed as the speed controller of the motor. The simulation results show that the approach outperforms the traditional PID method.
After designing the fault-tolerant driver, we propose a simple and efficient scheme for fault diagnose and fault-tolerant control by taking motor, inverters and control algorithm as a whole, then a novel control stratege is developed based on SVPWM and tolerate torque control.
Finally, with TMS320F2812 as the main control unit, the hardware and software of the prototype has been implemented and tested, which could adjust the double closed loop control of the EMA.
The high reliability and fault-tolerance ability of the EMA based on four-phase FTPMM is confirmed with both theoretical analysis and experiments. Therefore, our research is valuable for the development of high-reliability EMA in both theoretical research and practical application.
引文
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