Controller design and implementation for double-stator tri-redundant brushless DC motor based on DSP and FPGA

Traditionally, to control a double-stator tri-redundant brushless DC motor (DSTRBLDCM) of electromechanical actuator in unmanned aerial vehicle (UAV), three controllers which are based on MCU or fixed-point DSP are used and the communication among the three controllers is achieved by bus. This paper presents a new controller based on floating-point DSP and FPGA. It can control three redundancies of the DSTRBLDCM simultaneously and program instruction of floating-point DSP is used for communication instead of bus. The control structure of the DSTRBLDCM system is greatly simplified so that its reliability is highly improved. And the volume and weight of the controller are reduced. Therefore it can satisfy the UAV´s requirements better. To complete the design of DSP program and FPGA function, a top-down modular design is adopted. The simulation and experimental results show that the developed controller has a good performance on the control of DSTRBLDCM and has a wide prospect for application.