一种无人机用一体式电动舵机的研究

摘要

A kind of integrated electro actuator used by unmanned aerial vehicle (UAV) was introduced in this paper.In consideration of space and working environment,the electro actuator used the miniaturization and sealing design strategy.An integrated method was introduced to design the body of the actuator and the control and drive circuit.Brushless motor,planetary gear,angular displacement sensor were assigned in tandem to reduce its space.The seal groove was designed based on the structure to ensure the waterproof and dustproof effect.Some instruction process algorithms were used to compensate the collected instruction to do the position closed loop processing which can improve the control precision.Two levels of current limiting strategy was used to ensure the safety of the electro actuator.Through some tests,the design strategy is reasonable,with stability,rapidity and dynamic characteristics and can meet the requirements.%介绍一种无人机用一体式电动舵机.针对空间和工作环境的要求,电动舵机采用了小型化和密封性设计.将电动舵机和控制驱动器进行集成一体化设计,同时直流无刷电机、行星减速器、中空式角位移传感器进行串联式布局,使结构紧凑,减小其空间尺寸,采用密封槽和一体式结构设计方式,保证防水防尘密封效果.对采集到的PWM数字指令进行补偿以提高精度,用来进行位置闭环控制,提高位置控制精度;同时采用两级限流的控制策略,保证电动舵机在极端情况下不会过载损坏,提高电动舵机的可靠性.通过试验验证,该电动舵机设计方案合理、可行,并具有较好的稳定性、快速性和动态特性,可以满足无人机小体积、高机动性的要求.