消振电力作动器用位置环解耦控制策略  

Decoupling control strategy of position loop for vibration damping electric actuator

作　　者：郝振洋[1] 王涛 曹鑫[1] 朱涛 HAO Zhenyang;WANG Tao;CAO Xin;ZHU Tao(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《航空学报》2022年第8期599-614,共16页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(52077100);航空科学基金(201958052001)。

摘　　要：消振电力作动器采用四台电机各自独立驱动四个偏心质量块的形式实现减振,传统的并行控制策略会因为在系统输出端存在强耦合而导致控制效果不佳。针对以上问题,首先建立了作动器输出力的数学模型,提出了消振电力作动器用位置环解耦控制策略,并将广义频率法和主导极点法相结合应用于控制系统的参数设计上。然后,分析了系统的动态性能,并通过回差矩阵奇异值法等稳定裕度量测方法计算出了解耦控制系统的稳定裕度,结果表明本文所设计的系统具有良好的动态特性和鲁棒性。最后,研制出了原理样机,实验验证了控制策略的有效性和参数设计的合理性。The anti-vibration electric actuator adopts the form of four motors independently driving four eccentric masses to achieve vibration reduction,and the traditional parallel control strategy will cause poor control effect due to strong coupling at the output end of the system.In response to the above problems,this article first established a mathematical model of the actuator output force,and proposed a decoupling control strategy of the position loop for the vibration-absorbing electric actuator.The generalized frequency method and the dominant pole method are both used in the parameter design of the control system.Then,the dynamic performance of the system is analyzed,and the stability margin of the decoupling control system is calculated by the stability margin measurement methods such as the hysteresis matrix singular value method.The results show that the system designed in this paper has good dynamic characteristics and robustness.Finally,the principle prototype is developed.The experiment verifies the effectiveness of the control strategy and the rationality of the parameter design.

关 键 词：消振电力作动器 解耦控制 主导极点法 广义频率法 回差矩阵奇异值法 

分 类 号：V11[航空宇航科学与技术—人机与环境工程]