一种脉宽调制式舵系统舵机模拟器设计方法

针对脉宽调制式舵系统放大器电性能高效测试的问题，提出一种基于移相脉冲计数的舵机模拟器设计方法。该模拟器硬件由电平转换单元、PWM占空比采集单元、数字PID控制单元和DAC单元四部分组成，软件主要采用移相脉冲计数法和数字PID控制算法，实现了真实舵机电性能的替代。同时由单通道扩展的多通道模拟器的应用，能够大幅节约舵机放置空间，缩短研制周期，在短时间内实现脉宽调制式放大器电性能大批量测试的目的。试验结果表明，该舵机模拟器能够模拟真实电动舵机的电性能特性，系统具有实时性好、测试效率高、操作性好的优点，及较高的应用价值。

A design method of actuator simulator for PWM rudder system

In order to test the electrical performance of pulse width modulation(PWM) system amplifier efficiently, a design method of actuator simulator based on phase-shifting pulse counting is proposed. The hardware of the simulator consists of the level conversion unit, the PWM duty cycle set unit, the digital PID control unit and the DAC unit, and the software mainly adopts phase-shifting pulse counting and digital PID control algorithm to realize the replacement of electromechanical performance for real actuators. At the same time, the application of the multi-channel simulator expanded by a single channel can greatly save the placement space of the actuator, shorten the development cycle, and achieve the purpose of mass testing the electrical performance of the PWM amplifier in a short time. The test results show that the actuator simulator can simulate the electrical performance characteristics of the real electric actuators. The system has the advantages of good real-time performance, high test efficiency, good operability and high application value.