旋转偏心质量块式消振电力作动器建模与控制EI北大核心CSCD

直升机等非固定翼飞行器在飞行状态时由桨叶旋转所产生的周期性低频振动会通过刚性机体传递至驾驶舱、航空发动机以及起落架等部位,会造成机体的持续振动,严重时会影响驾驶员的生命安全。提出了旋转偏心质量块式消振电力作动器,并开展了控制方法研究。从理论上推导了旋转偏心质量块式消振电力作动器的输出力模型以及负载转矩模型;提出基于双电机并行独立控制的电力作动器输出力伺服控制策略,在复频域进行了稳定性分析,并针对正弦波非线性负载扰动带来的转矩脉动问题,对双电机并行独立控制策略展开了优化设计,通过负载前馈控制使系统具备良好的鲁棒性和抗干扰性;研制了重量为14 kg的实验样机并完成了优化控制策略前后电力作动器稳态、动态性能的对比验证实验。结果表明,优化控制策略下的作动器输出力动稳态性能满足各项技术指标要求。

Modeling and control of rotating eccentric mass block vibration damping electric actuator

The periodic low-frequency vibration generated by the rotation of the blade of non-fixed-wing aircraft such as helicopters in flight will be transmitted to the cockpit,aero engines and landing gears through the rigid body,which will cause continuous vibration of the body and affect the driving safety of personnel in severe cases.Based on this,this paper proposes a rotating eccentric mass-type vibration damping electric actuator and carries out research on its control method.The output force model and load torque model of the rotating eccentric mass-type vibration damping electric actuator are theoretically derived.The power actuator output force servo control strategy based on the parallel independent control of dual motors is proposed,and the stability analysis is carried out in the complex frequency domain.Aiming at the torque ripple problem caused by sine wave nonlinear load disturbance,the dual-motor parallel independent control strategy is optimized.Through load feedforward control,the system has good robustness and anti-interference.An experimental prototype of a weight of 14 kg is developed and the steady-state and dynamic performance comparison and verification experiments of the electric actuator before and after the optimized control strategy are completed.The results show that the dynamic and steady-state performance of the actuator output force under the optimized control strategy meets the requirements of various technical indicators.