作者：张西多, 吴星明, 陈伟海

作者单位：北京航空航天大学自动化学院, 北京 100191

关键词：球形电机; 姿态检测; 控制系统; 电流控制器

摘要：

为实现基于电流控制器完成球电机的精确控制,需要对能够提供多通道、双极性、高精度电流的电流控制器进行研究。针对这一要求,提出了一种基于ARM和AD5370的球电机电流控制器的设计方案,解决了困扰球电机发展的多路大功率双极性电流控制器设计难题。实验结果表明:该电流控制系统可以实时同步地高精度输出多路控制电流,能够克服线圈发热、反电动势等对电流精度的影响,具有长期的电流工作稳定性,能够满足球电机系统的控制要求。

Design and implementation of control system for three degree-of-freedom spherical actuator

ZHANG Xi-duo, WU Xing-ming, CHEN Wei-hai

School of Automation, Beihang University, Beijing 100191, China

Abstract: In order to realize precise control of spherical actuator based on current regulator, the current regulator, which can provide the multi-channel, bipolar, high-power and highly accurate current signals synchronously, has been researched. Aimed at this requirement, the authors have proposed a design plan of current regulator for spherical actuator based on ARM and AD5370. This proposal addresses the design problem of current regulator which has perplexed development of spherical actuator. Experimental results have shown that the proposed control system has ability to output the multi-channel and highly accurate current signals synchronously. It is also demonstrated that current regulator can overcome the influence of back electromotive force and the heat of working coils. It can output precise current signal in a long time and meets control requrement of the spherical actuator system.

Keywords: spherical actuator; orientation measurement; control system; current regulator

2012, 38(4): 69-72  收稿日期: 2011-10-31;收到修改稿日期: 2012-1-7

基金项目: 国家自然科学基金项目(50975017)

作者简介: 张西多(1977-),男,四川绵阳市人,硕士研究生,专业方向为嵌入式系统、电机控制技术、智能机器人。

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