灵巧式舵机并行驱动的研究

STUDY OF THE PARALLEL ACTUATION OF SMART ACTUATORS

提出一种灵巧式舵机系统的余度配置，即双舵机的并行驱动．采用这种余度配置方案，由于两舵机之间的固有偏差，将会引起双舵机同时控制时舵面的扭曲及力纷争．采用力均衡可以减小或消除舵面的扭曲负载．仿真结果表明，加入力均衡后，灵巧式舵机可以很好地实现双舵机的并行驱动．

One kind of redundancy configuration scheme of smart ac-tuation system, i. e. parallelactuation of two actuators, is presented. Because of the inherent differences of two actuators.this redundancy configuration may cause a twist in control surface and a force fight in two actuators controlling. The control surface torsional loads can be minimized or eliminated by using force equalization. It is indicated by simulation that smart actuators can rightly implementthe parallel actuation of two actuators after force equalization is considered.