电动舵机中的电流环分析及校正

以电动舵机中电流控制问题为研究对象,通过对直流电机电流数学建模及频域分析,阐述了常规电流环控制器校正后的电流频率响应特性。针对电流负反馈容易引入测量噪声、采样延时带来不稳定等问题,提出呆用陷波滤波器串联校正电流的频率特性,并给出了滤波器参数设计方法。分别对串联校正和电流负反馈控制进行了实验验证,结果表明采用陷波滤波器串联校正能够抑制峰值电流,与电流环比例控制效果接近,其实现简单、稳定性好。

The Analysis and Correction of Current-loop in Electromechanical Actuator

The electric current control problems in the electromechanical actuator is the research object, through establishing the DC motor current mathematical model and analysis of frequency domain, the paper expounds the general current frequency response characteristics of current loop. In view of the current negative feedback easily introducing noise measurement and sampling time delay bringing problems such as instability, the paper presents the notch filter of series correction current frequency characteristic and the filter parameter design method. The experiments are respectively carried out to verify the method of series correction and current feedback control. The results show that the method of the notch filter is simpler and improves stability which prevents the peak current as the current loop proportion control.