电动舵机内部扰动分析及建模  

Analysis and Modeling of Internal Disturbance of Electromechanical Actuator

作　　者：孙铭鸿 黎英[1] SUN Minghong;LI Ying(Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学信息工程与自动化学院,云南昆明650500

出　　处：《控制工程》2024年第6期1052-1059,共8页Control Engineering of China

摘　　要：电动舵机中的减速机构通常会引入齿隙和摩擦等非线性内部扰动,此类非线性扰动会对电动舵机的动、静态性能造成一定影响。针对电动舵机减速器造成的内部扰动进行了分析,为了解除两级减速器内部的耦合关系,将其分为2个部分分别进行建模,再进行串联仿真。基于蜗轮蜗杆减速器建立了随外部负载变化的非线性摩擦模型,基于圆柱齿轮减速器建立了包含非线性力矩传递特性的齿隙模型。通过将模型仿真结果与舵机实测结果进行对比,确认了模型与舵机具有相同的非线性特性,验证了电动舵机内部扰动的来源,并为舵机控制算法的研究提供了良好的平台。Nonlinear internal disturbances,such as backlash and friction,are usually introduced into the reducer of electromechanical actuator,which will affect the dynamic and static performance of it to some extent.An analysis was conducted on the internal disturbance caused by the electric servo reducer.In order to remove the coupling relationship between the two-stage reducer,it is divided into two parts for separate modeling and then subjected to series simulation.The worm gear reducer has established a nonlinear friction model that varies with external loads,while the cylindrical gear reducer has established a backlash model that includes nonlinear torque transmission characteristics.By comparing the model simulation results with the actual measurement results,it is confirmed that the model has the same non-linear characteristics as the actuator,the source of internal disturbance of the electromechanical actuator is verified,and a good platform is provided for the research of the actuator control algorithm.

关 键 词：电动舵机 蜗轮和蜗杆 齿隙 摩擦 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]