CN111152933A - Electromagnetic compatibility design method for steering engine control driving system of unmanned aerial vehicle - Google Patents
Electromagnetic compatibility design method for steering engine control driving system of unmanned aerial vehicle Download PDFInfo
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Abstract
A method for designing electromagnetic compatibility of an unmanned aerial vehicle steering engine control driving system is synchronous with the development and verification processes of the unmanned aerial vehicle steering engine control driving system, and comprises interference source analysis and determination, sensitive circuit analysis and determination, electromagnetic compatibility scheme design and software anti-interference design; the electromagnetic compatibility scheme is designed as the key point of the electromagnetic compatibility design of the control driving system of the unmanned rudder vehicle, and comprises the overall layout design of the control driving system, a grounding design, an isolation design, a PCB wiring and grounding design, an electromagnetic shielding design and a connecting cable shielding design; the unmanned aerial vehicle steering engine control driving system designed and verified by the method has extremely low electromagnetic radiation level and extremely high electromagnetic interference resistance, and simultaneously ensures the capability of stable and reliable work in a complex electromagnetic environment, thereby having good electromagnetic compatibility.
Description
Technical Field
The invention relates to the technical field of design of an unmanned aerial vehicle steering engine control driving system, in particular to an electromagnetic compatibility design method of the unmanned aerial vehicle steering engine control driving system.
Background
Most of the existing civil unmanned aerial vehicles are of multi-rotor structures, the multi-rotor unmanned aerial vehicles are simple in mechanical structure and relatively easy to control, but have the defects of low speed, small bearing capacity and short endurance time, and cannot be competent in certain civil fields needing higher endurance speed, higher bearing capacity and long endurance time; for the fixed-wing unmanned aerial vehicle, the flight attitude control is realized through the actions of the wing ailerons, the vertical tail fin and the lifting tail fin, and the actions of the wing ailerons, the vertical tail fin and the lifting tail fin need to be controlled through a steering engine, so that an unmanned aerial vehicle steering engine control driving system is a key subsystem of the fixed-wing unmanned aerial vehicle, but because the development difficulty is higher, no commercial product driven by the fixed-wing unmanned aerial vehicle steering engine control is available in the market at present, and the development of civil fixed-wing unmanned aerial vehicle products is influenced.
In addition, the civil fixed-wing unmanned aerial vehicle can carry electronic equipment such as photoelectricity and radar in use, and therefore has the characteristic of complex electromagnetic environment, if the electromagnetic compatibility design of the steering engine control driving system of the unmanned aerial vehicle is poor, electromagnetic interference between the steering engine control driving system of the unmanned aerial vehicle and the carried electronic equipment such as photoelectricity, radar and communication equipment is easily caused, normal flight control of the fixed-wing unmanned aerial vehicle is influenced, and even the fixed-wing unmanned aerial vehicle is out of control and crashes if the electromagnetic compatibility design is serious, so that the electromagnetic compatibility design of the steering engine control driving system of the unmanned aerial vehicle is one of necessary design work contents, and reliable and stable work of the steering engine control driving system of the unmanned aerial vehicle under the complex electromagnetic environment is guaranteed; meanwhile, the steering engine control driving system of the unmanned aerial vehicle is used as a subsystem for independent sale, and the steering engine control driving system has a lower electromagnetic radiation level so as to be good in electromagnetic compatibility with other systems of customers; but no data are found at present to systematically disclose the electromagnetic compatibility design of the steering engine control driving system of the unmanned aerial vehicle.
Disclosure of Invention
In order to overcome the defects in the background art, the invention discloses an electromagnetic compatibility design method of an unmanned aerial vehicle steering engine control driving system, the process of the design method is synchronous with the development and verification process of the unmanned aerial vehicle steering engine control driving system, and the design method comprises interference source analysis and determination, sensitive circuit analysis and determination, electromagnetic compatibility scheme design, power supply design and software anti-interference design; the electromagnetic compatibility scheme is designed as the key point of the electromagnetic compatibility design of the control driving system of the unmanned rudder vehicle, and comprises the overall layout design of the control driving system, a grounding design, an isolation design, a PCB wiring and grounding design, an electromagnetic shielding design and a connecting cable shielding design; through the design and verification of the electromagnetic compatibility of the unmanned aerial vehicle steering engine control driving system, the developed unmanned aerial vehicle steering engine control driving system has extremely low electromagnetic radiation level and extremely high electromagnetic interference resistance, ensures the capability of stable and reliable work in a complex electromagnetic environment, and has good electromagnetic compatibility.
In order to realize the purpose, the invention adopts the following technical scheme: the electromagnetic compatibility design method of the steering engine control driving system of the unmanned aerial vehicle is synchronous with the development process of the steering engine control driving system of the unmanned aerial vehicle in the electromagnetic compatibility design process, and specifically comprises the following steps:
s1, interference source analysis and determination: the unmanned aerial vehicle steering engine control driving system comprises a control module, a power driving module and a steering actuating mechanism; the control module comprises a DSP, a CAN communication interface circuit, a bus driver, an angle decoding circuit and a differential receiving circuit; the power driving module comprises a logic comprehensive circuit, an overcurrent protection circuit, a driving circuit and an inverter circuit; the control module, the power driving module and the rudder actuating mechanism are connected through a cable;
the rudder actuating mechanism comprises an actuator and an angle sensor, wherein the actuator comprises a brushless direct current motor, and a Hall sensor is arranged in the brushless direct current motor; the driving circuit, the inverter circuit and the brushless direct current motor of the rudder actuating mechanism of the power driving module have transient heavy current during working, so that external radiation electromagnetic interference is generated, and the self-compatibility problem of the steering engine control driving system of the unmanned aerial vehicle is easily caused;
when the DSP and the angle decoder of the control module work, the clock source generates high-frequency electromagnetic interference, and normal work of other circuits of other control modules is influenced in a conduction and radiation mode;
the control module, the power driving module and the rudder actuating mechanism are connected with cables which are easy to radiate electromagnetic interference;
s2, sensitive circuit analysis and determination: the control module has low working voltage and high frequency, and is easy to generate operation errors due to electromagnetic radiation and conduction interference;
the control module and the power driving module are connected through a cable, and the cable conducts high-frequency harmonic interference generated by the power driving module to influence the normal work of the control module;
the power driver, the brushless direct current motor and the encoder are connected through cables; a connecting cable between the power driver and the brushless direct current motor radiates high-frequency harmonic electromagnetic interference to the outside, and the connecting cable between the brushless direct current motor and the encoder easily absorbs the electromagnetic interference to cause encoding error;
s3, designing an electromagnetic compatibility scheme: the method comprises the steps of controlling the overall layout design, grounding design, isolation design, PCB wiring and grounding design, electromagnetic shielding design and connecting cable shielding design of a driving system;
in the overall layout design of the control driving system, the control module and the power driving module are separately arranged, and the control module, the power driving module and the rudder actuating mechanism are arranged as close as possible, so that the connecting length of cables among the control module, the power driving module and the rudder actuating mechanism is shortened, and the electromagnetic radiation and the electromagnetic wave absorption of the connecting cables are reduced;
the control driving system is divided into a digital ground of the control module, a power ground of the power driving module and a shielding ground of the control module and the power driving module in terms of ground design; the control module is digitally connected with the DSP ground, the CAN communication interface circuit ground, the bus driver ground, the angle decoding circuit and the differential receiving circuit ground through magnetic beads; the power ground of the power driving module is divided into two parts, the two parts comprise a logic comprehensive circuit, a signal ground of an overcurrent protection circuit, a driving ground of a driving circuit and a driving ground of an inverter circuit, and the two grounds are connected through magnetic beads; the digital ground, the power ground and the shielding ground are mutually physically isolated by adopting methods such as photoelectric isolation, insulation and the like;
in the isolation design, a bus driver of the control module is isolated from a logic comprehensive circuit of the power driving module by adopting an optical isolation coupling circuit, so that the high-frequency harmonic interference of the power driving module is prevented from being transmitted to the control module through a cable;
in the design of PCB wiring and ground laying, the PCB adopts 4 layers, magnetic beads are arranged on the back surface of the PCB, and all other electronic devices are arranged on the front surface of the PCB; for the front side of a PCB of a control module, a DSP, a CAN communication interface circuit, a bus driver, an angle decoding circuit and a differential receiving circuit are used for partitioning, related electronic devices are arranged in the same partition, continuous grids are distributed in the partition corresponding to the front side of the back side of the PCB to form an independent DSP ground, a CAN communication interface circuit ground, a bus driver ground, an angle decoding circuit and a differential receiving circuit ground, the end of the electronic device to be grounded is grounded through more than four through holes, a plurality of grounds on the back side of the PCB are connected through magnetic beads, the crystal oscillator on the front side of the PCB is arranged at a position close to a DSP or an angle decoder, a crystal oscillator shell is grounded through soldering tin, a power line is widened, all wiring corners are rounded, and wiring on the back side of the PCB is surrounded in the continuous grids; for the front side of a PCB of a power driving module, a logic integrated circuit, an overcurrent protection circuit, a driving circuit and an inverter circuit are partitioned, related electronic devices are arranged in the same partition, continuous non-margin ground is distributed in the partition corresponding to the front side of the back side of the PCB to form a signal ground of the logic integrated circuit and the overcurrent protection circuit and a driving ground of the driving circuit and the inverter circuit, the end of the electronic device to be grounded is grounded through more than four through holes, two grounds at the back side of the PCB are connected through magnetic beads, power lines are widened, all wiring corners are rounded, and wiring at the back side of the PCB is surrounded in the continuous non-margin ground;
in the electromagnetic shielding design, the control module and the power driving module are arranged in the metal aluminum profile box, wherein an inverter circuit of the power driving module is arranged at a position far away from the control module; three connecting sockets are fixedly arranged on the side surface of the metal box and are respectively connected with the flight control system, the brushless direct current motor of the rudder actuating mechanism and the angle sensor through cables; the three connecting sockets are provided with shielding grounding terminals which are connected to the same point of the metal box through a cable;
in the connection cable shielding design, the three connection cables are all provided with an outer shielding layer, and the outer shielding layers are connected with the metal box through shielding ground interfaces of the connection socket; the CAN bus in the cable connected with the flight control system adopts a twisted pair shielding wire;
s4, power supply design: in the power supply setting, the power supplies supplied by the control module and the power driving module are two independent 28V power supplies; wherein, a 28V power supply for supplying power to the control module is connected to the control module after being converted by the power supply conversion module, and the power supply conversion module and the control module are separately arranged; wherein the 28V power supply for supplying power to the power driving module is directly connected with the power driving module;
s5, software anti-interference design: the software anti-interference design aims at the communication between the unmanned aerial vehicle steering engine control driving system and the flight control system, a communication information verification design is adopted, the received control instruction frame header and the control ID are verified and judged, instructions which do not accord with a communication protocol are abandoned, and no response or response is given.
Further, the process of verifying the electromagnetic compatibility design result of the unmanned aerial vehicle steering engine control driving system is synchronous with the process of verifying the function test of the unmanned aerial vehicle steering engine control driving system, after the engineering sample of the unmanned aerial vehicle steering engine control driving system is completed, when the circuit performance test of a control module and a power driving module is carried out, the waveform quality of key node signals is synchronously tested, and the key point signals comprise: CAN bus communication signals, differential receiving circuit input signals, bus driver output signals and Hall element output signals.
Due to the adoption of the technical scheme, the invention has the following beneficial effects: the invention discloses an electromagnetic compatibility design method of an unmanned aerial vehicle steering engine control driving system, which is synchronous with the development and verification processes of the unmanned aerial vehicle steering engine control driving system and comprises interference source analysis and determination, sensitive circuit analysis and determination, electromagnetic compatibility scheme design and software anti-interference design; the electromagnetic compatibility scheme is designed as the key point of the electromagnetic compatibility design of the control driving system of the unmanned rudder vehicle, and comprises the overall layout design of the control driving system, a grounding design, an isolation design, a PCB wiring and grounding design, an electromagnetic shielding design and a connecting cable shielding design; through designing and verifying the electromagnetic compatibility of the steering engine control driving system of the unmanned aerial vehicle, the following technical effects are achieved:
the integral layout design reduces electromagnetic radiation interference among modules of an unmanned aerial vehicle steering engine control driving system through reasonable arrangement of space positions of a control module, a power driving module and a steering actuating mechanism, and simultaneously reduces radiation interference of other electronic equipment carried by the unmanned aerial vehicle on the unmanned aerial vehicle steering engine control driving system through electromagnetic induction of a connecting cable;
the grounding design is adopted, and a digital ground, a power ground and a shielding ground which are physically isolated from each other are arranged in a dividing manner, so that the conducted interference of an inverter circuit of the power driving module and the brushless direct current motor to the control module is prevented;
in the isolation design, optical coupling isolation is adopted between the control module and the power driving module, so that the conduction interference between the control module and the power driving module is blocked;
the PCB is designed for wiring and ground laying, so that the external radiation and anti-interference capability of the control module and the power driving module are reduced, and the working stability of the control module and the power driving module in a complex electromagnetic environment is improved;
the control module and the power driving module are arranged in the closed metal box, so that the radiation interference of other electronic equipment carried by the unmanned aerial vehicle to the control module and the power driving module is reduced, and the external electromagnetic radiation of the control module and the power driving module is reduced;
sixthly, the cables connected with the steering engine control driving system of the unmanned aerial vehicle are provided with outer shielding layers, the outer shielding layers are connected with the metal box through shielding ground interfaces of the connecting socket, and radiation of other electronic equipment carried by the unmanned aerial vehicle is reduced and is transmitted to the unmanned aerial vehicle steering engine control driving system through the induction of the connecting cables;
the unmanned aerial vehicle steering engine control driving system designed and verified by the method has extremely low electromagnetic radiation level and extremely high electromagnetic interference resistance, and simultaneously ensures the capability of stable and reliable work in a complex electromagnetic environment, thereby having good electromagnetic compatibility.
Drawings
FIG. 1 is a schematic diagram of an overall practical layout of an unmanned aerial vehicle steering engine control drive system;
fig. 2 is a schematic grounding block diagram of an unmanned aerial vehicle steering engine control drive system.
In the figure: 1. the left aileron steering engine controls the driving system; 2. a right aileron steering engine control drive system, a left direction steering engine control drive system and a right aileron steering engine control drive system; 4. the right steering engine controls the driving system; 5. a lifting steering engine control driving system; 6. flight control system.
Detailed Description
The present invention will be explained in detail by the following examples, which are disclosed for the purpose of protecting all technical improvements within the scope of the present invention.
The electromagnetic compatibility design method of the steering engine control driving system of the unmanned aerial vehicle is synchronous with the development process of the steering engine control driving system of the unmanned aerial vehicle in the electromagnetic compatibility design process, and specifically comprises the following steps:
s1, interference source analysis and determination: the unmanned aerial vehicle steering engine control driving system comprises a control module, a power driving module and a steering actuating mechanism; the control module comprises a DSP, a CAN communication interface circuit, a bus driver, an angle decoding circuit and a differential receiving circuit; the power driving module comprises a logic comprehensive circuit, an overcurrent protection circuit, a driving circuit and an inverter circuit; the control module, the power driving module and the rudder actuating mechanism are connected through a cable;
the rudder actuating mechanism comprises an actuator and an angle sensor, wherein the actuator comprises a brushless direct current motor, and a Hall sensor is arranged in the brushless direct current motor; the driving circuit, the inverter circuit and the brushless direct current motor of the rudder actuating mechanism of the power driving module have transient heavy current during working, so that external radiation electromagnetic interference is generated, and the self-compatibility problem of the steering engine control driving system of the unmanned aerial vehicle is easily caused;
when the DSP and the angle decoder of the control module work, the clock source generates high-frequency electromagnetic interference, and normal work of other circuits of other control modules is influenced in a conduction and radiation mode;
the control module, the power driving module and the rudder actuating mechanism are connected with cables which are easy to radiate electromagnetic interference.
S2, sensitive circuit analysis and determination: the control module has low working voltage and high frequency, and is easy to generate operation errors due to electromagnetic radiation and conduction interference;
the control module and the power driving module are connected through a cable, and the cable conducts high-frequency harmonic interference generated by the power driving module to influence the normal work of the control module;
the power driver, the brushless direct current motor and the encoder are connected through cables; the connecting cable between the power driver and the brushless direct current motor radiates high-frequency harmonic electromagnetic interference to the outside, and the connecting cable between the brushless direct current motor and the encoder easily absorbs the electromagnetic interference to cause coding error.
S3, designing an electromagnetic compatibility scheme: the method comprises the steps of controlling the overall layout design, grounding design, isolation design, PCB wiring and grounding design, electromagnetic shielding design and connecting cable shielding design of a driving system;
in the overall layout design of the control driving system, the control module and the power driving module are separately arranged, and the control module, the power driving module and the rudder actuating mechanism are arranged as close as possible, so that the connecting length of cables among the control module, the power driving module and the rudder actuating mechanism is shortened, and the electromagnetic radiation and the electromagnetic wave absorption of the connecting cables are reduced;
the control driving system is divided into a digital ground of the control module, a power ground of the power driving module and a shielding ground of the control module and the power driving module in terms of ground design; the control module is digitally connected with the DSP ground, the CAN communication interface circuit ground, the bus driver ground, the angle decoding circuit and the differential receiving circuit ground through magnetic beads; the power ground of the power driving module is divided into two parts, the two parts comprise a logic comprehensive circuit, a signal ground of an overcurrent protection circuit, a driving ground of a driving circuit and a driving ground of an inverter circuit, and the two grounds are connected through magnetic beads; the digital ground, the power ground and the shielding ground are mutually physically isolated by adopting methods such as photoelectric isolation, insulation and the like;
in the isolation design, a bus driver of the control module is isolated from a logic comprehensive circuit of the power driving module by adopting an optical isolation coupling circuit, so that the high-frequency harmonic interference of the power driving module is prevented from being transmitted to the control module through a cable;
in the design of PCB wiring and ground laying, the PCB adopts 4 layers, magnetic beads are arranged on the back surface of the PCB, and all other electronic devices are arranged on the front surface of the PCB; for the front side of a PCB of a control module, a DSP, a CAN communication interface circuit, a bus driver, an angle decoding circuit and a differential receiving circuit are used for partitioning, related electronic devices are arranged in the same partition, continuous grids are distributed in the partition corresponding to the front side of the back side of the PCB to form an independent DSP ground, a CAN communication interface circuit ground, a bus driver ground, an angle decoding circuit and a differential receiving circuit ground, the end of the electronic device to be grounded is grounded through more than four through holes, a plurality of grounds on the back side of the PCB are connected through magnetic beads, the crystal oscillator on the front side of the PCB is arranged at a position close to a DSP or an angle decoder, a crystal oscillator shell is grounded through soldering tin, a power line is widened, all wiring corners are rounded, and wiring on the back side of the PCB is surrounded in the continuous grids; for the front side of a PCB of a power driving module, a logic integrated circuit, an overcurrent protection circuit, a driving circuit and an inverter circuit are partitioned, related electronic devices are arranged in the same partition, continuous non-margin ground is distributed in the partition corresponding to the front side of the back side of the PCB to form a signal ground of the logic integrated circuit and the overcurrent protection circuit and a driving ground of the driving circuit and the inverter circuit, the end of the electronic device to be grounded is grounded through more than four through holes, two grounds at the back side of the PCB are connected through magnetic beads, power lines are widened, all wiring corners are rounded, and wiring at the back side of the PCB is surrounded in the continuous non-margin ground;
in the electromagnetic shielding design, the control module and the power driving module are arranged in the metal aluminum profile box, wherein an inverter circuit of the power driving module is arranged at a position far away from the control module; three connecting sockets are fixedly arranged on the side surface of the metal box and are respectively connected with the flight control system, the brushless direct current motor of the rudder actuating mechanism and the angle sensor through cables; the three connecting sockets are provided with shielding grounding terminals which are connected to the same point of the metal box through a cable;
in the connection cable shielding design, the three connection cables are all provided with an outer shielding layer, and the outer shielding layers are connected with the metal box through shielding ground interfaces of the connection socket; the CAN bus in the cable connected with the flight control system adopts a twisted pair shielding wire;
s4, power supply design: in the power supply setting, the power supplies supplied by the control module and the power driving module are two independent 28V power supplies; wherein, a 28V power supply for supplying power to the control module is connected to the control module after being converted by the power supply conversion module, and the power supply conversion module and the control module are separately arranged; wherein the 28V power supply supplying power to the power driving module is directly connected with the power driving module.
S5, software anti-interference design: the software anti-interference design aims at the communication between the unmanned aerial vehicle steering engine control driving system and the flight control system, a communication information verification design is adopted, the received control instruction frame header and the control ID are verified and judged, instructions which do not accord with a communication protocol are abandoned, and no response or response is given.
Unmanned aerial vehicle steering wheel control drive system electromagnetic compatibility design result verification process is synchronous with unmanned aerial vehicle steering wheel control drive system's functional test verification process, and after unmanned aerial vehicle steering wheel control drive system engineering sample was accomplished, when carrying out control module, power drive module circuit capability test, the wave form quality of synchronous test key node signal, the key point signal includes: CAN bus communication signals, differential receiving circuit input signals, bus driver output signals and Hall element output signals.
The present invention is not described in detail in the prior art.
Claims (2)
1. An electromagnetic compatibility design method for an unmanned aerial vehicle steering engine control driving system is characterized by comprising the following steps: the electromagnetic compatibility design process of the unmanned aerial vehicle steering engine control driving system is synchronous with the development process of the unmanned aerial vehicle steering engine control driving system, and the method specifically comprises the following steps:
s1, interference source analysis and determination: the unmanned aerial vehicle steering engine control driving system comprises a control module, a power driving module and a steering actuating mechanism; the control module comprises a DSP, a CAN communication interface circuit, a bus driver, an angle decoding circuit and a differential receiving circuit; the power driving module comprises a logic comprehensive circuit, an overcurrent protection circuit, a driving circuit and an inverter circuit; the control module, the power driving module and the rudder actuating mechanism are connected through cables;
the rudder executing mechanism comprises an actuator and an angle sensor, wherein the actuator comprises a brushless direct current motor; the driving circuit and the inverter circuit of the power driving module and the brushless direct current motor of the rudder actuating mechanism have transient heavy current during working, so that high-frequency harmonic electromagnetic interference radiated to the outside is generated;
a clock source generates high-frequency electromagnetic interference when a DSP and an angle decoder of the control module work;
the control module, the power driving module and the rudder actuating mechanism are connected with cables which are easy to radiate electromagnetic interference;
s2, sensitive circuit analysis and determination: the control module has low working voltage and high frequency and is easy to be subjected to electromagnetic radiation and conducted interference;
the control module is connected with the power driving module through a cable, and the control module is easily subjected to high-frequency harmonic interference of the power driving module conducted by the cable;
the power driving module, the brushless direct current motor and the encoder are connected through cables, and the connecting cables between the brushless direct current motor and the encoder are easy to be subjected to high-frequency harmonic electromagnetic interference radiated outside by the connecting cables between the power driving module and the brushless direct current motor;
s3, designing an electromagnetic compatibility scheme: the method comprises the steps of controlling the overall layout design, grounding design, isolation design, PCB wiring and grounding design, electromagnetic shielding design and connecting cable shielding design of a driving system;
in the overall layout design of the control driving system, a control module and a power driving module are separately arranged, and the control module, the power driving module and a rudder actuating mechanism are arranged in a short distance;
the control driving system is divided into a digital ground of the control module, a power ground of the power driving module and a shielding ground of the control module and the power driving module in terms of ground design; the control module is digitally connected with the DSP ground, the CAN communication interface circuit ground, the bus driver ground, the angle decoding circuit and the differential receiving circuit ground in a split and multi-point grounding mode, and the mutually split grounds are connected through magnetic beads; the power ground of the power driving module is divided into two parts, the two parts comprise a logic comprehensive circuit, a signal ground of an overcurrent protection circuit, a driving ground of a driving circuit and a driving ground of an inverter circuit, and the two grounds are connected through magnetic beads; the digital ground, the power ground and the shielding ground are mutually physically isolated;
in the isolation design, a bus driver of the control module is electrically isolated from a logic comprehensive circuit of the power driving module by adopting an optical isolation coupling circuit;
in the design of PCB wiring and ground application, the PCB adopts a double-layer board or a multi-layer board, magnetic beads are arranged on the back surface of the PCB, and all other electronic devices are arranged on the front surface of the PCB; for the front side of a PCB of a control module, a DSP, a CAN communication interface circuit, a bus driver, an angle decoding circuit and a differential receiving circuit are used for partitioning, related electronic devices are arranged in the same partition, a continuous grid ground is laid on the partition corresponding to the front side of the back side of the PCB to form an independent DSP ground, a CAN communication interface circuit ground, a bus driver ground, an angle decoding circuit and a differential receiving circuit ground, the end of the electronic device to be grounded is grounded through a plurality of via holes, a plurality of grounds on the back side of the PCB are connected through magnetic beads, the crystal oscillator on the front side of the PCB is arranged at a position close to a DSP or an angle decoder, a crystal oscillator shell is grounded, a power line is widened, all wiring corners are rounded, and wiring on the back side of the PCB is surrounded in the continuous grid ground; for the front side of a PCB of a power driving module, a logic integrated circuit, an overcurrent protection circuit, a driving circuit and an inverter circuit are partitioned, related electronic devices are arranged in the same partition, a continuous non-margin ground is laid on the partition corresponding to the front side of the back side of the PCB to form a signal ground of the logic integrated circuit and the overcurrent protection circuit and a driving ground of the driving circuit and the inverter circuit, the end of the electronic device to be grounded is grounded through a plurality of through holes, two grounds on the back side of the PCB are connected through magnetic beads, power lines and ground lines are widened, all wiring corners are rounded, and wiring on the back side of the PCB is surrounded in the continuous non-margin ground;
in the electromagnetic shielding design, the control module and the power driving module are arranged in the metal box, wherein an inverter circuit of the power driving module is arranged at a position far away from the control module; three connecting sockets are fixedly arranged on the side surface of the metal box and are respectively connected with the flight control system, the brushless direct current motor of the rudder actuating mechanism and the angle sensor through cables; the three connecting sockets are provided with shielding ground interfaces which are connected with the metal box through the same point;
in the connection cable shielding design, the three connection cables are all provided with an outer shielding layer, and the outer shielding layers are connected with the metal box through shielding ground interfaces of the connection socket; the CAN bus in the cable connected with the flight control system adopts a twisted pair shielding wire;
s4, power supply design: in the power supply arrangement, the power supplies supplied by the control module and the power driving module are two independent power supplies; the power supply for supplying power to the control module is connected to the control module after being converted by the power supply conversion module, and the power supply conversion module and the control module are separately arranged; wherein, the power supply for supplying power to the power driving module is directly connected with the power driving module;
s5, software anti-interference design: the software anti-interference design aims at the communication between the unmanned aerial vehicle steering engine control driving system and the flight control system, a communication information verification design is adopted, the received control instruction frame header and the control ID are verified and judged, instructions which do not accord with a communication protocol are abandoned, and no response or response is given.
2. The design method for electromagnetic compatibility of the unmanned rudder machine control drive system according to claim 1, wherein the method comprises the following steps: the electromagnetic compatibility design result of the unmanned aerial vehicle steering engine control driving system needs to be verified, and the verification process is synchronous with the function test verification process of the unmanned aerial vehicle steering engine control driving system; after the engineering sample of the unmanned aerial vehicle steering engine control driving system is finished, the waveform quality of the key node signal is synchronously tested when the circuit performance and the function of the control module and the power driving module are tested.
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