基于行星滚柱丝杠副的机电作动器动态特性分析.PDF

基于行星滚柱丝杠副的机电作动器动态特性分析 乔冠， 刘更， 马尚君， 佟瑞庭， 周勇 （西北工业大学 陕西省机电传动与控制工程实验室，西安 710072 ） 摘 要：以舵回路系统中机电作动器为研究对象，考虑机电作动器的安装和舵面负载连接，建立了基于行星滚柱丝杠副的机 电作动器数学模型。采用 AMESim 进行仿真对比分析，探讨了机电作动器中结构刚度、摩擦和间隙等非线性因素对系统动态性能 的影响。结果表明：相比传动刚度，结构刚度中固定刚度的提高对于系统动态响应的改善作用更明显；行星滚柱丝杠副间隙量越大， 系统的阶跃响应波动幅值越明显；在给定舵控指令下，机电作动器的仿真位移输出响应误差最大为 1.8mm，相对误差为 1.2%，从 而较好的反映了模型的有效性，为功率电传机电作动器的进一步结构优化和控制提供了理论依据。 关键词：机电作动器；行星滚柱丝杠副；动态特性；结构刚度；间隙非线性 中图分类号：TH 132.1 文献标识码：A Dynamic Characteristic Analysis of Electro-Mechanical Actuator Based on Planetary Roller Screw Mechanism QIAO Guan, LIU Geng, MA Shang-jun , TONG Rui-ting, ZHOU Yong (Shaanxi Engineering Laboratory for Transmissions and Controls, Northwestern Polytechnical University, Xi’an 710072, China) Abstract: Aiming at electro-mechanical actuators (EMA) in the actuator loop, a model of EMA based on a planetary roller screw mechanism (PRSM) is developed to investigate the effects of nonlinearities associated with structural stiffness, friction and clearance on dynamic characteristic in EMA systems. Anchorage compliance and transmission compliance connected to aerodynamic force are considered. The results presented in the AMESim show that the improvement of anchorage compliance has a more important influence on transient response than transmission compliance. The fluctuation of step response becomes more obvious with a bigger clearance in the PRSM. Besides, under a certain input command, the maximum output error of EMA is 1.8mm and the relative error is 1.2% with respect to the displacement response. The nonlinear model is proved to be an