Design and Development of Control Electronics for Space Rover Hip Yaw Joint Application

摘要

The drive system design for a space rover application requires the choice of a motor with high power to weight ratio, low inertia, capacity to develop high acceleration, wide velocity range and high positioning accuracy. Since the control schemes for rover drives are stringent, the system design and control has become an area of wide research. This paper focuses on the development of controller for a precision actuator as per the requirements of space environment. The design utilizes a slotless, coreless PMBLDC motor topology that not only gives high torque to weight ratio and less cogging torque but also limit weight to a few hundred grams. A triangle Pulse Width Modulation technique for Brushless Direct Current (BLDC) motor drives, is proposed based on a comparative study between SVM & SPWM control strategy. The basic drive system design is modeled using Matlab/Simulink environment & is validated with the help of simulation results for confirming the performance characteristics. The results obtained are well within the space requirements which include high torque to inertia ratio, high positioning accuracy, high dynamic response & low detent torque. The hardware implementation of the controller is done using PIC16F877A for speed control of PMBLDC motor actuator.