电动舵机的参数平衡设计

Parameter Balance Design of Electromechanical Actuator

在进行电动舵机设计时,为防止其中部分参数不平衡而导致系统性能变差或难以实现,对选用的电机及减速器的参数如何平衡进行了研究。先介绍了电动舵机基本构成、参数类型及参数平衡的基本原则。接着分析了折算到电机轴上的负载力矩,推导出了负载轨迹运动方程。然后,进行了设计实例分析,根据参数平衡原则对电机进行了选定,并给出了选用电机的两个原则。最后,对样机进行了实验测试。结果表明:舵机角速度为145°/s;输出力矩为20N·m;带宽达10.72Hz。满足了电动舵机系统设计的技术参数要求。

During design of electromechanical actuator, in order to prevent some parameters imbalance, which could cause the system per- formance to get worse or the system could be difficult to achieve. The issue of how to balance the chosen parameters of the motor and gear reducer has been researched. Firstly, the basic components, parameter type and the principle of parameter balance of electromechanical actuator were introduced. Secondly, the equation of the motor load motion trajectory was deduced on the basis of analysis of the motor shaft load torque, which was converted by the actuator. Thirdly, an example of electromechanical actuator design was given. According to the principle of parameters balance in the motor load motion trajectory, the motor was selected and two principles in the selection of motor were proposed. Finally, an electromechanical actuator prototype was tested and analyzed. Experimental results indicate that actuator＇ s maximum angular velocity is 145 °/s, maximum output torque is 20N · m and system bandwidth is up to 10.72Hz. The results meet the technical pa- rameters requirements of the electromecbanical actuator system design.