双余度无刷电动机位置伺服系统仿真与试验

建立了稀土永磁(rare earth permanent magnet, REPM)双余度无刷直流电动机(dual-redundancy brushless DC motor, DR-BLDCM)位置伺服系统的位置、速度、电流三闭环数学模型，针对并联型隔槽嵌放式DR-BLDCM的结构，采用磁感应强度波形分析方法，得到了该电机在每极每相槽数q=1时的每相自感和相间互感的计算公式，并给出了在q=2和q=3时的自感和互感的参数修正关系。在Matlab/Simulink环境下，构建了基于Matlab的系统仿真模型，采用一种实用的正弦波消顶方法，即用消去顶部的正弦波来代替梯形波，减小了系统仿真过程的计算量。通过对DR-BLDCM位置伺服系统实际参数的动态性能仿真，得到了位置伺服系统阶跃响应和频率响应曲线。仿真曲线与DR-BLDCM电动舵机实际系统试验结果一致，从而验证了DR-BLDCM自感和互感算法及此类系统模型的有效性。

Simulation and Test of Position Servo System Based on Dual-redundancy BLDCM

The mathematical model of a position, speed and current closed-loop servo system based on rare earth permanent magnet (REPM) dual-redundancy brushless DC motor (DR-BLDCM) is built up. According to the parallel structure of DR-BLDCM with windings in separated slots, through waveform analysis of magnetic induction intensity, the mathematic formula of self-inductance and mutual-inductance between two phases has been presented under slot number q=1 in each phase per pole. Meanwhile, the revising relation of self-inductance and mutual-inductance are given when q=2 or q=3. In Matlab/Simulink, the dynamic performance of DR-BLDCM is simulated under real parameters. A practical method of top-cut sine wave is used to substitute BEMF wave so that the time of simulation calculating is decreased. The step response and frequency response curves of system are obtained. The simulation result showes a good agreement with the real test waveform of DR-BLDCM. The validity of mathematical model of DR-BLDCM and calculating method of self-inductance and mutual-inductance are verified.