四作动器驱动摆动伺服系统动特性研究

Dynamic characteristic study of swing servo system driven by four actuators

介绍了一种四作动器驱动的摆动伺服系统动特性研究方法。基于推导的摆动机构空间运动方程,设计了运动控制系统,通过控制四个伺服作动器同步运动,驱动摆动机构来实现正弦扫描运动。试验获得了摆动伺服系统的频率特性,并识别了结构谐振频率及振型,通过分析定位了结构弱刚度部位,为结构改进和控制系统设计提供了重要依据。本研究可为其它类似复杂伺服系统的动特性评估提供借鉴。

In this paper, a dynamic characteristic test study of swing servo system driven by four actuators is introduced. The motion control system is design based on the deduced space motion equation of the swing mechanism. The sine sweep motion is realized by synchronously controlling four actuators to drive the swing mechanism. The frequency characteristics of the swing servo system are obtained, and the resonance frequency and mode shape are identified. Through data analysis, the weak stiffness position of the structure is located, which provides an important basis for structural improvement and control system design. This study can provide reference for other similar complex servo system dynamic characteristics evolution.