机电作动器动力学建模与电流跳变现象分析

针对机电作动器在带载位置跟踪性能检测试验中响应曲线峰值点处出现的电流跳变现象,推导机电作动器空气舵负载、永磁同步电机和传动机构的动力学与运动学方程,建立其多非线性因素动力学模型。从电能、动能、摩擦损耗和弹性能间相互转换的角度,解释电流跳变现象,证明电流跳变现象是由传动机构摩擦力瞬间反向造成的。仿真与试验结果表明,在57 N·m^570 N·m负载力矩条件下,电流曲线拟合误差最大为13.06%,决定系数最小为0.87,所建模型提高了机电作动器仿真分析精度,复现了电流跳变现象,对机电作动器功率损耗分析及故障诊断的仿真预估具有重要意义。

Dynamic modeling and current jump analysis of electro-mechanical actuator

Aiming at the current jump phenomenon of EMA at the peak point of the response curve on the load position tracking test,the dynamics and kinematics of the rudder,permanent synchronous motor and transmission mechanism of EMA were derived,and their nonlinear dynamics were established.The phenomenon is explained from the viewpoint of mutual transformation among electric energy,kinetic energy,friction energy and elastic energy,which concluded that the phenomenon is caused by the instantaneous reverse of the transmission mechanism.Under the load torque of 57 N·m-570 N·m,the comparison results of simulation and experimental data show that the maximum fitting error of the current curve is 13.06%,and the minimum determination coefficient is 0.87,which proves the established models improve the simulation analysis accuracy of EMA and successfully reproduce the current jump phenomenon.Moreover,the model is also great for power loss analysis and fault diagnosis.