高性能电动舵机系统高保真建模方法研究 -- 西北工业大学学报,2018,36(1):7-12
论文:2018,Vol:36,Issue(1):7-12
引用本文:
李朋, 高智刚, 周军, 张佼龙. 高性能电动舵机系统高保真建模方法研究[J]. 西北工业大学学报
Li Peng, Gao Zhigang, Zhou Jun, Zhang Jiaolong. High Fidelity Modeling Method of High Performance Electromechanical Actuator[J]. Northwestern polytechnical university

高性能电动舵机系统高保真建模方法研究
李朋, 高智刚, 周军, 张佼龙
西北工业大学 精确制导与控制研究所, 陕西 西安 710072
摘要:
针对传统二阶环节模型对舵系统实际特性反映不足的缺陷提出一种全局耦合结构模块化的高保真建模方法。在对建模流程进行阐述的基础上,以"无刷直流电机/滚珠丝杠副/拨叉"类型电动舵机为对象进行高保真建模研究。分析了系统高保真模型组成结构,并对其中伺服电机、传动比、机械惯量和传动柔度等非线性因素的建模方法进行详细阐述。利用simulink进行仿真结果表明,建立的高保真模型对舵机输入输出特性和内部状态特性的表现能力与实际系统高度一致,有效保证了系统模型的真实度,对提高飞行器制导控制回路的仿真精度有重要作用。
关键词:    电动舵机    高保真建模    全局耦合结构    模块化    机电系统   
High Fidelity Modeling Method of High Performance Electromechanical Actuator
Li Peng, Gao Zhigang, Zhou Jun, Zhang Jiaolong
Institute of Precision Guidance and Control, Northwestern Polytechnical University, Xi'an 710072, China
Abstract:
The accuracy of high performance electromechanical actuator(EMA) system model has important influence on the simulation accuracy of aircraft guidance and control loop. Aiming at solving the deficiency in the reflection of EMA characteristics using traditional second-order model, a high-fidelity global coupling modular structure modeling method is proposed. Based on the analysis of the modeling process, high-fidelity modeling research is conducted on "BLDCM/ball screw/fork" type EMA systems. The structure of high fidelity model is investigated, and modeling methods of nonlinear factors such as servo motor, transmission ratio, mechanical inertia and transmission flexibility in the system are examined in detail. Simulation results based on simulink platform show that the high fidelity model established by this method is highly consistent with the actual system performance of the input-output characteristics and the internal state characteristics, ensuring the authenticity of the system model, which plays an important effect on improving the simulation accuracy of the aircraft guidance and control loop.
Key words:    electromechanical actuator (EMA)    high fidelity modeling,global coupled modular structure    modularization modeling    electromechanical system    BLDCM    nonlinear factors,ball screw    transmission ratio    mechanical inertia    transmission flexibility    angular velocity    servo system    MATLAB    simulation   
收稿日期: 2017-05-06     修回日期:
DOI:
基金项目: 中央高校基本科研业务费专项资金(3102017GX14003)与国家自然科学基金(61703339)资助
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作者简介: 李朋(1987-),西北工业大学助理研究员,主要从事飞行器高动态电动伺服控制研究。
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