摘  要：针对直驱型电动舵机的特性，采用电流参考波形优化控制法来减小分数槽集中绕组永磁无刷直流电机的转矩脉动，优化设计电流环提高电流响应速度是该方法的关键。为此，建立了分数槽集中绕组永磁无刷直流电机的数学模型，在分析P型电流环和最速电流环控制优缺点的基础上，设计了次速电流环控制器。最后，对系统进行了仿真。仿真结果表明，次速电流环具有调节速度快、抗干扰能力强等优点。
关键词：电动舵机；分数槽集中绕组；永磁无刷直流电机；电流环；优化

Abstract: For the features of a direct drive electromechanical actuator, a current control method for the torque ripple reduction of fractional slot concentrated winding permanent magnet brushless DC motor was presented. The key is the optimizing design of current loop in the direct drive electromechanical motor. The mathematical model of fractional slot concentrated winding permanent magnet brushless DC motor was built. Based on the analysis of the features of P and time-optimal current loop, a time hypo-optimal current loop control system was designed. The simulation results show that the time hypo-optimal current loop control system has the advantages of fast adjustment and a strong performance of anti-disturbance.
Key words: electromechanical actuator；fractional slot concentrated winding；permanent magnet brushless DC motor；current loop；optimization