A Study And Design Of Dual Redundancy Electro-Mechanical Actuator

In this thesis, differential planetary gear train control system based on mechanical motion composition and clutch control system based on current addition are proposed for parallel/active redundancy actuator system, whose features are discussed. According to the in-depth study of the working principle, mathematical model and control-law performance of permanent-magnet brushless DC motors, the two-closed-loops control system, which includes position loop and speed loop, is proposed for differential planetary gear train control system, and control algorithm is designed for each controller with direct designing method; the three-closed-loops control system, which includes position loop, speed loop and current loop, is proposed for clutch control system, and control algorithm is designed for each controller with indirect designing method. The two control systems are simulated with MATLAB, and the simulation results indicate each of them satisfied the control requirement.Furthermore, in this thesis, based on dual redundancy electro-mechanical actuator with differential planetary gear train control system, the hardware design scheme is displayed in detail; each function block design of control board and power drive board is presented; the fault self-diagnosis strategy and fault self-screen strategy are discussed; the design scheme of across data-link between the two actuators is presented; the whole control flow and program code in C language or flow chart of each module are given. In addition, experimental platform and testing interface are developed. The experimental results indicate that control system satisfied the control requirement of dual redundancy electro-mechanical actuator.