For meet the safety and reliability of unmanned helicopter fly, put forward a design method of multi-channel double redundancy rudder system. The system uses non-contact design, adopts DSP to realize 6-channel rudder position loop control, and adopts FPGA to realize speed loop control. By introducing redundancy design features of main module, adopt model comparing and channel parameter comparing to establish system fault self-diagnosis module. The rudder system achieved the ability that when the system appears a similar failure or many different kinds of system to work normally. Experiments show that the design has reached the technical index requirement, and the redundant switch has no obvious shaking. It was verified by certain type unmanned helicopter.%为满足无人机飞行的安全性与可靠性，提出一种多通道双余度舵系统的设计方法。该系统采用无接触式设计，由 DSP完成6路舵机的位置环控制，FPGA完成速度环控制，通过对主要模块的余度设计特点进行说明，采用模型比较和通道参数比较的方法，构成了系统的故障自检测模块。当出现一次同类故障或多次不同类故障时，系统仍能正常工作。分析结果表明：该方法达到了技术指标要求，余度切换时无明显扰动，并已在某型无人直升机上得到实际验证。
展开▼
