电动舵机极限环机理分析和抑制措施

doi:10.12305/j.issn.1001-506X.2021.03.22

系统工程与电子技术 ›› 2021, Vol. 43 ›› Issue (3): 773-778.doi: 10.12305/j.issn.1001-506X.2021.03.22

电动舵机极限环机理分析和抑制措施

周志明(), 林凡(), 姚晓先(), 宋晓东()

北京理工大学宇航学院, 北京 100081

收稿日期:2020-06-01 出版日期:2021-03-01 发布日期:2021-03-16
作者简介:周志明(1992-), 男, 博士研究生, 主要研究方向为飞行器动力学与控制、舵机控制。E-mail:zmzhou2015@bit.edu.cn|林凡(1974-), 女, 副教授, 硕士研究生导师, 博士, 主要研究方向为舵机设计与控制, 嵌入式设计。E-mail:linfanjy@263.net|姚晓先(1957-), 男, 教授, 博士研究生导师, 博士, 主要研究方向为飞行器总体设计、舵机系统设计。E-mail:yxx11@bit.edu.cn|宋晓东(1979-), 男, 副教授, 硕士研究生导师, 博士, 主要研究方向为伺服系统设计。E-mail:xd_song@bit.edu.cn
基金资助:
国家自然科学基金(11872108)

Analysis and suppression of the limit cycle about electric actuator

Zhiming ZHOU(), Fan LIN(), Xiaoxian YAO(), Xiaodong SONG()

School of Aerospace and Engineering, Beijing Institute of Technology, Beijing 100081, China

Received:2020-06-01 Online:2021-03-01 Published:2021-03-16

摘要/Abstract

摘要：

针对电动舵机结构, 建立了一种考虑减速器等效刚度的舵机模型。利用描述函数法, 分析了舵机在考虑传动间隙情况下诱导的极限环, 进而分析了在有无舵片所受摩擦力情况下极限环的频率特性。针对该类传动非线性, 提出了一种工程上可实现的负反馈力矩机制来改变舵机在间隙区间的运动模态, 从而抑制极限环振荡, 并且给出了负反馈系数的选取准则。最后进行了数值仿真, 结果表明该模型能预测极限环的频率, 负反馈力矩机制可以在不影响系统伺服性能的情况下抑制极限环振荡。

关键词: 电动舵机, 描述函数法, 极限环, 负反馈力矩, 伺服性能

Abstract:

To study the electric actuator, a model is established with backlash nonlinearity and equivalent rigidity considered. Applying the describing function, the limit cycle of the actuator system is analyzed, and the characteristics of the limit cycle's frequency and amplitude are also analyzed. A method adding negative feedback moment to the load is proposed. The feedback moment can suppress the limit cycle of the actuator by changing the motion state of the load. The effect of the feedback moment to the servo system is analyzed and the principle of the feedback coefficient is given. The simulation results show the effectiveness of the describing function in predicting the limit cycle in the nonlinear system, and the proposed method does not affect the servo performance of the system and the negative feedback moment is valid in suppressing the limit cycle of the electric actuator with the backlash nonlinearity.

Key words: electric actuator, describing function, limit cycle, negative feedback moment, servo performance

中图分类号:

V249

周志明, 林凡, 姚晓先, 宋晓东. 电动舵机极限环机理分析和抑制措施[J]. 系统工程与电子技术, 2021, 43(3): 773-778.

Zhiming ZHOU, Fan LIN, Xiaoxian YAO, Xiaodong SONG. Analysis and suppression of the limit cycle about electric actuator[J]. Systems Engineering and Electronics, 2021, 43(3): 773-778.

图/表 7

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参数名称	参数值
电机转动惯量J_m/(kg·m²)	2.496 1e-9
舵片转动惯量J_l/(kg·m²)	0.1×2.496 1e-5
电阻R/Ω	7.8
反电动势系数K_e/(V·s/rad)	0.002 5
电磁力矩系数K_m/(N·m/A)	0.002 5
减速器等效刚度K_s/(N·m/rad)	10
减速比N	100
间隙值2b/rad	2π/180

电动舵机极限环机理分析和抑制措施

Analysis and suppression of the limit cycle about electric actuator

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