Design of Multi-Redundancy Electro-Mechanical Actuator Controller with DSP and FPGA

摘要

A novel multi-redundancy Electro-Mechanical Actuator (EMA) controller is designed in this paper, which can achieve multi-redundancy EMA control through a single controller and then result in greatly simple structure, reduced weight and compact size. This has tremendous significance on light airplane and unmanned aerial vehicle. The hardware platform of the controller is based on the floating-point DSP and FPGA, whereas the software is based on the Real-Time Operating System (RTOS) μC/OS-II which is ported to the DSP. The computation of position loop and velocity loop is calculated through DSP, the management and schedulers of the various control computation are carried out through the μC/OS-II to meet real-time requirements. FPGA is used to complete the calculation of current loop and generate PWM for the multi-redundancy EMA. The validity of this controller for the multi-redundancy EMA is proved by the experimental results which are obtained from a dual-redundancy EMA.