摘要：本文提出了一种基于FPGA的双余度无刷舵机控制系统的设计方法，并对无刷直流电机控制原理、电子换相、霍尔信号检测、双余度技术和舵系统方案进行了全面分析。通过实验证明，系统工作稳定、可靠，达到了出现一次同类故障或多次不同类故障时舵系统正常工作的能力。

关键词：FPGA；双余度；BLDC；无人机；舵系统

Abstract: This paper proposed a double redundancy design method of BLDC control system based on FPGA, and analyzed the BLDC principle, electronic change phase sequence, detecting the signals of Halls, double redundancy technique and the rudder system solutions. Experiments show that the system work stable and reliable. The rudder system achieved the ability that when the system appears a similar failure or many different kinds of failure to work normally.

Key words: FPGA；double redundancy；BLDC；UAV；rudder system