摘要
摩擦和间隙是影响电动舵机结构力学特性的典型非线性因素.基于电动舵机伺服系统模型,研究摩擦、间隙非线性因素的特性及其对舵机控制的影响.设计一种低摩擦力、间隙可控舵机传动机构,进行实验与仿真分析.结果表明,该新型传动机构能够改善传统舵机摩擦阻力大、间隙可控性差的状况,并提高舵机控制的精度和稳定性,为电动舵机伺服系统结构特性研究和控制系统研究提供基础.
Nonlinear factors such as friction and clearance have definite influences on mechanical properties of electric actuator structure. To investigate the impact of non-linearity on actuator control,typical non-linear characteristics existing in the transmission device are introduced. A new transmission device is designed,which has low friction and controllable clearance. Experiment and simulation results show that the new transmission device has better performances in friction and clearance condition compared with general transmission structure. With new transmission device,both control accuracy and stability of actuator are achieved,which can provide basis for the analysis of structure properties and the research of control system.
出处
《空间控制技术与应用》
CSCD
北大核心
2017年第3期54-58,70,共6页
Aerospace Control and Application
基金
上海市自然科学基金资助项目(16ZR1415700)
上海航天科技创新基金资助项目(SAST2016075)
关键词
舵机
摩擦
间隙
非线性
actuator structure
friction
clearance
nonlinear
