机电作动器舵回路系统动态特性分析  

Analyzing Dynamic Characteristics of Rudder Loop System for an Electro-mechanical Actuator

作　　者：万琦[1] 刘更[1] 乔冠[1] 马尚君[1] 佟瑞庭[1] 

机构地区：[1]西北工业大学陕西省机电传动与控制工程实验室,西安710072

出　　处：《机械科学与技术》2017年第5期805-810,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51275423);教育部高等学校博士学科点专项科研基金项目(20126102110019);中国博士后科学基金项目(2014M552483);西北工业大学基础研究基金项目(3102014ZD0035)资助

摘　　要：为了提高机电作动器舵回路系统动态特性,以基于行星滚柱丝杠副的机电作动器舵回路系统为研究对象,建立一种采用一维伺服控制系统模型与三维机构动力学模型相结合的闭环耦合模型。通过变量信息实时交互实现联合仿真,进一步探究机电作动器中行星滚柱丝杠副摩擦力矩、刚度和间隙等非线性因素对舵回路系统的动态特性影响。结果表明:摩擦力矩是影响系统响应稳态值的主要因素;当系统输入阶跃信号时,刚度和间隙是造成系统振荡的主要原因;考虑摩擦力矩时,系统的跟踪精度降低,响应速度变慢;提高刚度可避免系统大幅振荡,能够保证系统稳定性;减小间隙量,可降低系统阶跃响应波动幅值,并加快系统调节时间。In order to enhance the dynamic characteristics of the rudder loop system of an electro-mechanicalactuator with the planetary roller screw mechanism, this paper develops a closed-loop coupling model that combinesthe one-dimensional servo control model with the three-dimensional dynamic model. Comprehensive simulations areperformed with the real-time interaction of information on variables, and the influence of nonlinear factors of aplanetary roller screw such as frictional moment, stiffness and clearance on the dynamic characteristics of the rudderloop system is analyzed. The results indicate that the frictional moment is the mMn factor that influences the steady-state value of the system＇s step response. Stiffness and clearance can cause the oscillation of the system when itsstep signal is input signal, and the tracking precision and response speed of the system decreases when the frictionalmoment is taken into account. Furthermore, increasing stiffness can avoid the oscillation of the system, thusimproving its stability. The fluctuation amplitude of the step response can be decreased and the time for regulatingthe system can also he increased by decreasing the clearance of the planetary roller screw.

关 键 词：机电作动器 联合仿真 动态特性 行星滚柱丝杠副 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]