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标题：基于矢量控制的小型增稳云台电机伺服系统 |
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作者：陈鼎，李扬，陈少浩，等 |
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| 2018年第9期 访问次数：309次 |
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摘要：直流无刷电机被广泛应用在小型航拍无人机、扫地机器人等智能硬件上,其具有体积小、可靠性高、起动转矩大等众多优点。介绍一种主要应用于摄像机增稳云台上小型直流无刷电机伺服系统;该系统利用了磁编码器获得转子位置，利用线性电流传感器采集两相电流，采用基于矢量控制的电机控制方案；对系统进行试验，结果表明，系统配合高精度传感器的应用能有效抑制电机的转矩脉动，电机转动平稳、鲁棒性强、定位精度高。
关键词：直流无刷电机; 增稳云台；磁编码器；转矩脉动；矢量控制；伺服系统
Abstract: At present,brushless DC motor(BLDCM) is widely used in many smart devives such as small aerial photograph drone and sweeping robot,it has many advantages,such as small size, high reliability and high pullin torque. A BLDCM servo control system was introduced,which was mainly used for camera stable gimbal. The system used a magnetic encoder to detect the rotor position,and used linear current sensors to detect twophase current,the motor control scheme was based on Field Oriented Control(FOC).Experimental results show that the system represses torque ripple effectively through the application of highprecision sensors ,the motor runs smoothly,robust and accurate.
Key words: BLDCM; stable gimbal; magnetic encoder; torque ripple; field oriented control; servo system
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