紧凑型灵巧作动器的伺服控制

与有人机相比,无人机作动系统要求在更小的空间内实现相同功能,这就要求作动器更加灵巧、紧凑。提出一种新型的紧凑型灵巧作动器,该作动器采用永磁同步电机驱动2个柱塞协同工作,实现吸排油;通过方向阀实现油液的配流,将上述实现液压泵功能的结构全部集成在壳体内,减小了作动器的体积。本文还设计了该作动器的伺服控制回路,详细阐述了如何选取速度、电流环的PI参数。通过在AMESim中搭建仿真模型驱动质量负载,证明该作动器响应速度快,动态性能好,带载能力强。

Servo Control of Compact Flexible Actuator

Comparing with manned planes, the actuator systems of unmanned aerial vehicle are requested to realize same function with smaller place, which needs actuators to be more smarter and compact.A new-type compact flexible actuator was proposed in which PMSM was used to drive two plungers to drain and suck oil.The oil was distributed via directional valve.The actuator was integrated in-to shell, so the actuator’ s volume was decreased.The actuator’ s servo control loop was also designed.How to configure PI parameter in rate loop and current loop was demonstrated.With building simulation model to drive mass load, it is proved that the actuator dose well in response rate, dynamic performance and load capacity.