基于行星滚柱丝杠副的机电作动器动态特性分析

Dynamic characteristic analysis for an electro-mechanical actuator based on planetary roller screw mechanism

以舵回路系统中机电作动器为研究对象,考虑机电作动器的安装和舵面负载连接,建立了基于行星滚柱丝杠副的机电作动器数学模型。采用AMESim进行仿真对比分析,探讨了机电作动器中结构刚度、摩擦和间隙等非线性因素对系统动态性能的影响。结果表明:相比传动刚度,结构刚度中固定刚度的提高对于系统动态响应的改善作用更明显;行星滚柱丝杠副间隙量越大,系统的阶跃响应波动幅值越明显;在给定舵控指令下,机电作动器的仿真位移输出响应误差最大为1.8 mm,相对误差为1.2%,从而较好的反映了模型的有效性,为功率电传机电作动器的进一步结构优化和控制提供理论依据。

Aiming at an electro-mechanical actuator（ EMA） in an actuator loop,a model of EMA based on a planetary roller screw mechanism（ PRSM） was developed to investigate the effects of nonlinearities associated with structural stiffness,friction and clearance on the dynamic characteristics of the EMA system. Anchorage compliance and transmission compliance related to aerodynamic force were considered. The simulation analysis results with AMESim showed that the improvement of anchorage compliance has a more important influence on the system＇s transient response than that of transmission compliance does; the fluctuation of the system＇s step response becomes more obvious with a bigger clearance in the PRSM; besides,under a certain input command,the maximum displacement output error of EMA is 1.8mm and the relative error is 1. 2%. The nonlinear model was proved to be an effective one which provided a theoretical foundation for the further structural optimization and control of EMA.