摘要
电动交流舵机在有人机和大型无人机中应用广泛,作为飞行控制系统执行机构的核心部件,其重要性不言而喻。为实现对多通道交流舵机的闭环位置控制,设计了一种以STM32F767处理器为主控芯片的舵机伺服系统,通过外部扩展LTC2600、ADAS3022作为D/A、A/D转换模块,使系统具备产生舵控指令及采集舵机实时位置的功能,并采用限幅滤波与滑动平均滤波相融合的数字滤波算法提高系统的抗干扰能力。经过系统性测试和反复实验验证,系统能够快速响应上位机的控制指令并实时与之进行数据交互,同时能够有效抑制内部及外部干扰,以确保舵机位置数据的准确性。
As the core components of the actuation of the flight control system,AC actuator is widely used in manned aircraft and large-scale UAV. The multi-channel AC actuator servo system based on embedded processor is designed to realize the closed-loop position control. The system chooses STM32F767 as the main control chip. Besides,in order to generate the control signal and collect the data of AC actuator,the system expands of A/D and D/A resources by chips of LTC2600 and ADAS3022. Through using the digital filtering algorithm that combines amplitude-limiting filtering algorithm and moving average filtering algorithm,the software improves the anti-interference ability of the system. By systematic testing and repeated trial,the system can quickly respond to external control commands and transmit the position information to upper computer. At the same time,the system can inhibit the internal and external interference to ensure the accuracy of data.
作者
肖莉萍
徐志鹏
马訢智
李志宇
周洁敏
XIAO Liping;XU Zhipeng;MA Xinzhi;LI Zhiyu;ZHOU Jiemin(Key Laboratory of Unmanned Aerial Vehicle Technology Ministry of Industry and Information Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;College of Civil Aviation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《电子设计工程》
2022年第20期68-72,78,共6页
Electronic Design Engineering
