A New Method for Tuning PI Gains for Position Control of BLDC Motor Based Wing Morphing Actuators

摘要

The paper presents the control design of a BLDC motor used in the actuation mechanism of an experimental morphing wing model. The actuation system of the morphing wing includes four similar actuators, placed on two actuation lines. Each actuator has in its structure a BLDC motor, and a part that turns rotation movement into the linear movement, containing a gearbox, a gearing and a trapezoidal screw. The control design procedure is based on the Internal Model Control methodology, in the paper being exposed successively the modeling, the simulation and the experimental testing of the controlled electrical actuator. At a first step, the transfer function of the motor is established and the mechanical coupling between it and the linear actuator is modeled. Secondly, by using motor transfer function with current, speed and position control loops, the Matlab/Simulink model of the morphing actuator control is obtained. Further, the Internal Model Control methodology is applied in the tuning of the actuator control, and the obtained control gains are validated by using an experimental model based on some drives and on the NI PXI technology.