一种双级式直接驱动作动器的非线性建模与分析

doi:10.3901/JME.2018.20.312

机械工程学报 ›› 2018, Vol. 54 ›› Issue (20): 312-319.doi: 10.3901/JME.2018.20.312

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一种双级式直接驱动作动器的非线性建模与分析

罗成洋¹, 姚建勇^1,2, 余永平³, 刘辉³, 徐强¹

1. 南京理工大学机械工程学院南京 210094;
2. 河北省重型机械流体动力传输与控制重点实验室秦皇岛 066004;
3. 中航工业南京机电液压工程研究中心航空机电系统综合航空科技重点实验室南京 211106

收稿日期:2018-01-04 修回日期:2018-08-01 出版日期:2018-10-20 发布日期:2018-10-20
通讯作者: 姚建勇(通信作者),男,1984年出生,博士,教授,硕士研究生导师。主要研究方向为机电系统伺服控制,动态系统故障检测与容错,武器系统半实物仿真技术,火箭导弹发射技术。E-mail:jerryyao.buaa@gmail.com
作者简介:罗成洋,男,1991年出生,博士研究生。主要研究方向为伺服控制。E-mail:luocy32507@163.com
基金资助:
国家自然科学基金（51675279）、江苏省研究生培养创新工程（KYZZ16_0197）、航空科学基金（20152859003）与河北省重型机械流体动力传输与控制重点实验室（HBSZKF2016-1）资助项目。

Nonlinear Modeling and Analysis of a Dual-stage Direct Drive Actuator

LUO Chengyang¹, YAO Jianyong^1,2, YU Yongping³, LIU Hui³, XU Qiang¹

1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094;
2. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Qinhuangdao 066004;
3. Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration, Nanjing Engineering Institute of Aircraft Systems, AVIC, Nanjing 211106

Received:2018-01-04 Revised:2018-08-01 Online:2018-10-20 Published:2018-10-20

摘要/Abstract

摘要： 直接驱动作动器作为一种性能优越的机载作动器，具有结构简单、重量轻、体积小、费用低、静态泄漏小、功耗低、可靠性高等诸多优点。通过阐述某双级式直接驱动作动器的工作原理和特性，介绍一种基于状态方程的建模与分析方法；为了满足飞行器日益增长的性能要求，针对现有线性方法的局限性，分析液压系统固有的非线性与不确定性；考虑到磁滞对非线性系统所带来的震荡和误差会对系统的性能产生很大影响，因此，建立含磁滞的电动机非线性模型；分析余度伺服控制系统以及其他非线性环节，譬如输入约束、死区、滤波等；最终建立整个直接驱动作动器的非线性状态方程，利用MATLAB/SIMULINK进行仿真运算，并将仿真结果与实验数据对比，对比结果验证了所提出建模方案的准确性。

关键词: 非线性建模, 液压系统, 直接驱动作动器

Abstract: As a high-performance aircraft actuator, direct drive actuator has many advantages such as simple structure, light weight, small volume, low cost, little static leakage and high reliability. A new type dual-stage direct drive actuator is introduced, of which the principle and characteristics are illustrated. The present researches on direct drive actuator are mostly concentrated on linear methods, which is difficult to satisfy the increasingly high performance requirements because of the hydraulic inherent nonlinear properties and uncertainties. Because hysteresis will cause vibration and mistake to the nonlinear system, with this consideration, the nonlinear motor model with hysteresis is built. The redundant servo control system and other nonlinear part including input constrain, dead-zone and filter are analyzed. The nonlinear state equation model of the direct drive actuator is built and the simulation results are obtained via MATLAB/SIMULINK. By comparing the simulation results and experiment data, the proposed nonlinear modeling strategy is proved to be correct.

Key words: direct drive actuator, hydraulic system, nonlinear modeling

中图分类号:

TP273

罗成洋, 姚建勇, 余永平, 刘辉, 徐强. 一种双级式直接驱动作动器的非线性建模与分析[J]. 机械工程学报, 2018, 54(20): 312-319.

LUO Chengyang, YAO Jianyong, YU Yongping, LIU Hui, XU Qiang. Nonlinear Modeling and Analysis of a Dual-stage Direct Drive Actuator[J]. Journal of Mechanical Engineering, 2018, 54(20): 312-319.

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一种双级式直接驱动作动器的非线性建模与分析

Nonlinear Modeling and Analysis of a Dual-stage Direct Drive Actuator

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