舵机传动系统动力学联合仿真建模及实验研究

全电/多电飞行器舵机传动系统由电动舵机、传动机构、舵面以及控制系统所组成，其性能对飞行器的动态飞行品质和控制精度具有重要影响。根据电动舵机（EMA）结构组成，建立其系统动力学方程，并基于AMESim软件通过图形化建模方式建立其动力学模型。基于Virtual Lab Motion软件建立传动机构动力学模型，此模型考虑了含间隙非线性接触碰撞效应、构件弹性变形和舵面负载等因素的影响。基于Coupled主从耦合联合仿真方式，建立舵机传动系统联合仿真模型。基于综合性能实验台开展了舵机扫频实验，并与仿真结果进行对比。结果表明：仿真结果与实验结果误差较小，验证了舵机传动系统联合仿真模型的正确性。

Research on Co-simulation Modeling and Experiments of Rudder Transmission System

Rudder transmission system is composed of electro-mechanical actuator (EMA),transmission mechanism,rudder surface and controller in all/more electric aircraft,which can directly influence the flight control effects and flight quality of aircrafts.According to the structure composition of the electro-mechanical actuator (EMA),the system dynamics equations were established,and the dynamic model was established based on the AMESim software through graphical modeling.Based on Virtual.Lab Motion software,the model of the transmission mechanism was established,which considered the influence of nonlinear contact collision effect with gaps,elastic deformation of components and rudder surface load.Based on the Coupled co-simulation method,the co-simulation model of the rudder transmission system was established.The experiments of sine-input were made in comprehensive performance test bench,and the experimental results were compared with the co-simulation ones.The results show that the error between simulation results and experimental results is small,which verifies the effectiveness of the co-simulation model.