The Research Of Bldcm Servo System Based On Sliding Mode Control

Rudder servo system is used in the aerospace field, it has important research value. Using BLDCM as the rubber system actuator, it will improve the system's output torque, and achieve system's miniaturization. Based on BLDCM actuator, combined DSP and FPGA as the core processing unit, using the strategy of sliding mode variable structure control achieve the rubber servo system which improve the robustness for disturbances and the speed for signal response. Adding sliding mode observer in the system realize the observation of internal system state which provide reliable parameters for the realization of position sensorless control.Through a brief analysis of rudder servo on both the main structure and working principle, based on the actual system technical requirements, this paper designs a digital controller which is based on electric servo system. Using DSP and FPGA as the core control unit, and the strong ability of DSP data processing and the ability of FPGA parallel computing , achieve the design of control algorithms, and improve performance of rubber system.Using BLDCM as the servo system actuator, through analysis and designing the algorithm of sliding mode control, this paper achieves the position servo control in rubber system. Using the characteristic of sliding mode variable structure improve the robustness for disturbance and inner parameters transformation. Compared with the control strategy based on traditional servo system, it improves the immunity of servo system. And adding sliding mode observer in the system, use circuit sensors and voltage sensors sample phase circuit and phase voltage as the giving quantities to observer. This paper rely on observer getting the motor's speed, moving rotor's changing phase position signal and three-phases waveforms of back-EMF, so that achieve the sensorless motor control.Using Simulink in MATLAB build the ideal mode of the real system and the algorithms of sliding mode, and carry out mode simulation. Through the system simulation, design a sliding mode controller which meet the parameters of discrete systems, and through the combination of DSP and FPGA core processing unit realize control algorithm, which is applied to the rudder servo system. At last, finishing the design of whole hardware and software, realize the control of rubber servo system. Through the simulation and experiment, testified sliding mode control has strongly robustness and immunity for disturbance. This meets the rubber system's technology requirements including rapid and immunity for disturbance, and improves overall system's control performance.