绳传动型舵机反操纵负载模拟器  

Rope-Drive Load Simulator for Actuator’s Reverse Operation

作　　者：侯鹏飞 高健[1] 于丹[1] 王贺龙 黄海忠 HOU Peng-fei;GAO Jian;YU Dan;WANG He-long;HUANG Hai-zhong(Beijing Research Institute of Precise Mechanical and Electronic Control Equipment, Beijing 100076, China;School of Naval Architecture and Ocean Engineering, Harbin Institute of Technology (Weihai), Weihai 264209, China)

机构地区：[1]北京精密机电控制设备研究所,北京100076 [2]哈尔滨工业大学(威海)船舶与海洋工程学院,山东威海264209

出　　处：《中北大学学报（自然科学版）》2019年第5期443-448,共6页Journal of North University of China(Natural Science Edition)

摘　　要：基于大扭矩、大加载梯度、高精度等加载指标,开展了舵机抗反操纵负载能力研究.首次提出基于绳传动的曲柄-压簧构型方案,相比于传统平面四连杆型方案,其具有传动效率高、数学模型简单、动态响应快、无工作死点、安装方便等优势.经仿真分析,模拟器静态加载误差不大于0.67%,相比于滑块固定状态,滑块随动状态可显著提高加载精度;模拟器动态加载误差不大于6.17%,当加载梯度较小时,宜选用刚度相对较低的压簧,以提高动态加载精度.最后,开展了反操纵力矩标定试验并采用最小二乘法修正,加载偏差可控制在1%以内.研究成果对于飞行器用舵机的大扭矩反操纵负载研究具有重要参考价值.Based on load indicators of large torque, large load gradient and high precision, the paper studied actuator’s capability of resistance to reverse operation. The scheme first adopted the crank-compressed spring structure based on rope-drive configuration. Compared with the planar four-bar linkage scheme, it had advantages of high transmission efficiency, simple mathematical model, fast dynamic response, no dead point and convenient installation. The paper conducted static and dynamic simulation analysis. Through static analysis, the load error was less than 0.67%, and following state of the slider could obtain higher load accuracy than fixed state. Through dynamic analysis, the load error was less than 6.17%, and when the loading gradient was small, it was preferable to choose a spring with lower rigidity to improve dynamic load accuracy. Finally, the paper carried out reverse operation torque calibration test and the load error could be controlled within 1% by least square method. The research results are of great value for the study of aircraft’s large-torque reverse operation.

关 键 词：舵机 反操纵 大扭矩 加载梯度 负载模拟器 力矩标定 

分 类 号：V416.5[航空宇航科学与技术—航空宇航推进理论与工程]