摘  要：随着无人机可靠性要求的提高，对操纵无人机舵面的小型舵机的可靠性的要求也日趋提升，为此设计了一种无人机用的小型双余度电动伺服舵机。该双余度电动伺服舵机采用了双电机驱动，双反馈元件和双驱动元件，可较为容易地实现两余度运行。此外，为实现双余度舵机系统的在线动态检测，文章将双余度舵机划分为多个组件，根据不同组件特性，选用采用模型比较监控或比较两通道输出的方法构成系统的故障自检测(BIT)模块。由于采用了双余度方案，该舵机的任务可靠度与单余度的同类舵机相比明显提高，能用于可靠性要求较高的无人机中。
关键词：双余度舵机；无人机；可靠性；故障诊断

Abstract:To meet the requirements of mini-actuator reliability,improved with the requirements of UAV day by day,a dual-redundancy electric mini-actuator was designed in this paper.The dual-redundant electrical steering servo actuator using a double-feedback components and dual-drive components,which can be easy to realize two redundant operation.In addition,to realize fault detection and diagnosis for dual-redundancy actuator,the actuator was compartmentalized to multiple subassemblies,and according to the different characteristics of components,use monitoring model or comparing output of two channels to forms a BIT module for system.As the dual-redundancy scheme,the mission reliability of the actuator improved distinctly comparing with single redundant steering,can be used for UAV with higher reliability requirements.
Key Words: Dual-redundancy actuator；UAV；Reliability；Fault diagnosis