单周控制方法在电静液作动器无刷直流电机系统中的应用

摘要

电静液作动器(EHA)要求无刷直流电机能够频繁起动和制动,并具有较快的动态响应.针对常规PID控制在非线性系统中应用的不足,将单周控制方法用于EHA无刷直流电机系统中,采用单周控制器控制电机的力矩输出,以提高系统的抗干扰能力和动态性能,采用常规的PI控制器完成系统的位置和转速控制,系统结构简单且容易实现.仿真结果表明,电流环引入单周控制方法后,系统的快速性更好,稳态运行下电机转速、转矩波动更小.以1台转角功率为28 kW的EHA和FPGA+DSP结构的数字控制器为平台进行试验,试验结果验证了基于单周控制的EHA系统具有优良的稳态和动态性能.%The brushless DC motor in electro hydraulic actuator (EHA) was required to start and brake frequently,having a relatively fast dynamic response.One-cycle control method was employed in EHA brushless DC motors due to the disadvantages of the common PID control method in non-linear systems.The one-cycle controller was used to control the torque output of motors in order to improve the capability of resisting disturbance and enhance dynamic performance.Common PI controller was employed to accomplish the control of system position and rotate speed,making system structure simple and easy to realize.Simulation results showed that,after introducing one-cycle control method in current loop,the system had a better performance in stability and the fluctuation of the motor rotate speed and torque was smaller in steady state.An experiment was conducted on a platform including 28 kW angle power EHA and a digital controller based on "FPGA+DSP" structure,whose results verified that the EHA system based on the one-cycle control method had a excellent performance both in steady-state and dynamics.