航天机电伺服系统非线性表征建模与动态特性精细化预示  

Nonlinear characterization modeling and dynamic performance accurate prediction of aerospace electromechanical actuator

作　　者：蒋孟龙 付剑 刘轶男 孙明伟 黄玉平[2,3] 于志远 JIANG Menglong;FU Jian;LIU Yinan;SUN Mingwei;HUANG Yuping;YU Zhiyuan(School of Mechanical Engineering and Automation,Beihang University,Beijing100191,China;Laboratory of Aerospace Servo Actuation and Transmission,Beijing Institute of Precision Mechatronics and Controls,Beijing100076,China;Innovation Center for Control Actuators,Beijing100076,China)

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191 [2]北京精密机电控制设备研究所航天伺服驱动与传动技术实验室,北京100076 [3]控制执行机构技术创新中心,北京100076

出　　处：《航空学报》2024年第15期82-95,共14页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(92371101);中央高校基本科研业务费专项资金(YWF-23-L-911)。

摘　　要：针对机、电、磁、控多非线性强耦合作用导致航天机电伺服系统动态特性预示难的问题,基于MBSE、层次分析法、增量式建模技术分别构建了机电伺服应用于推力矢量控制的V型需求模型、多层架构模型、精细化性能预示模型。一级模型通过调配电机功率和减速比,支持位置包络预示;二级模型增量电阻-电感(RL)电磁转换架构和运动三角关系,实现位置响应预示与尺寸估计;三级模型构建多物理域耦合关系;四级模型精细化关键参数非线性,达到转速和电流动态响应准确预示效果。通过3组时域测试验证了多层级模型预示精度。设计实例表明,所建多层级模型完成多约束下机电伺服设计优化获得的可行解数量比第四级高精度模型单独优化多3.6倍、计算耗时缩减50.6%;最优方案功重比达488.95 W/kg,相频带宽达9.87 Hz,有效支撑航天机电伺服系统的快速设计和精准迭代,同时为火箭系统的数字化转型提供了可行实践方法。Aiming at the difficulties in predicting the dynamic performance of aerospace Electro-Mechanical Actuator(EMA)due to the multiple nonlinear coupling of mechanics,electricity,magnetism and controlling,a V-shape requirement model,a multi-level architecture model and an accurate prediction model for EMA in Thrust Vector Control(TVC)are built based on Model-Based System Engineering(MBSE),Analytic Hierarchy Process(AHP)and incremental modeling respectively.The first-level model enables the position enveloping prediction by adjusting motor power and reduction ratio.The second-level model realizes position response prediction and dimension estimation with incremental RL electromagnetic framework and trigonometric kinematic functions.The third-level model constructs the coupling relations of multi-physical domain,and the fourth-level model refines the non-linearity of key parameters which enables accurate prediction of rotating speed and current dynamic response.The prediction accuracy of the multi-level model is verified by three sets of time domain tests.The design instance indicates that the multi-level models under multiple constraints obtain 3.6 times more than the individual fourth-level model with a 50.6%reduction in calculating time.The optimal power-weight ratio reaches 488.95 W/kg,and the phase frequency bandwidth reaches 9.87 Hz,which strongly supports the rapid and accurate iteration of EMA design,and provides a feasible digital transformation practice of rocket system.

关 键 词：机电作动器 多物理域耦合 增量式非线性建模 基于模型的系统工程 推力矢量控制 

分 类 号：V421.64[航空宇航科学与技术—飞行器设计]