Design Of High Reliability BLDCM Drive Control System For Space End Effector

The research and development of space manipulator is a necessary process of constructing thefuture space station in China, and the end effector is one of the most important part of the manipulator.As one part of our project “the end effector prototype development of the manipulator system for spacestation”, The BLDCM drive control system for the end effector prototype and its high reliability designapproaches are studied in this paper to ensure the end effector can work stably and reliably.One the basis of the demand of development task, the selection of the BLDCM for the end effectoris introduced in detail. The motor motion planning of the control system is modeled and simulated forthe motion of end effector mechanism. The three closed-loop controller is designed to control the motormotion, and the model is constructed in MATLAB/Simulink platform. Simulation results have shownthat the control system has higher precision and dynamical performance.According to the demand and plan of the development task for the motion driver of the endeffector, the overall hardware system is designed which used the DSP TMS320F2812as the corecontroller, including the DSP supporting system, the communication interface of the controller, powerdrive circuit, PWM control circuit, current detect circuit, etc. The design and implementation of thecorresponding PCB (printed circuit board) is also considered. The DSP software is developed underCCS3.3development platform including the main procedure, communication submodule procedureand relevant interrupt handling procedure. The software is also optimized to accelerate the operationspeed.With the consideration of the future space application, several appoaches are porposed in theaspects of its own software and hardware of the motor controller and the redundant control strategy toimprove the reliablity. Combining with fault diagnosis based on sensor redundancy, a novel hot-backupcontrol architecture based on dual-winding BLDCM is proposed and detailed studied in this thesis.At last, a test and control platform based on PC is designed to verify the control electronics systemand the operation of end effector. The operation status of the end effector verified the software andhardware design of the control system. Test results have shown that the controller work well.