FPGA Based Electromotion-actuator Controller Design

As the actuator of missile control and guide system, Electric Rudder Systemcontrols missile’s flight attitude via amplified signals send by missile-borne computer.Performance of rudder decides controlling performance of missile directly. Ruddersystem is composed of electric rudder controller, connecting cable and electric rudder.At present, many electric rudder controllers adopt analog control mode, it can achievesmoothness control, whereas, it has low integration, big volume and low reliability.It’s difficult to upgrade and the use of new control methods is restricted. Moreover, inanalog control mode, small change of parameters will put great influence on controlloop. Traditional electric rudder system of analog mode can’t fill the higher andhigher request of small volume, weight, and high reliability.Based on filed programmable gate array (FPGA) which has fast processingcapability, abundant internal resource of configuration and interface, the electricrudder controller is designed in order to control four rudders simultaneously.The hardware of the controller including the digital communication interfacecircuit, online debugging interface circuit, signal acquisition circuit and power drivecircuit is designed. And the scheme of the controller is presented according to thestructure of present electric rudder and the demand of the upper system.The PID controller based on FPGA is designed. The PID algorithm based onmodern control theory is introduced, and the optimized one is selected andimplemented according to the experimental results. The FPGA program is designed.Control signals are authentically restored by the algorithm of digital filter and theaccutrate control is achieved.The experiment platform is developed. The software and hardware of thecontroller is debugged respectively, and then the whole rudder controller is debuggedby integrating the software with the hardware. Finally, the controller can meet thedesign requirements.