舵机刚度测试系统的设计与仿真

Design and Simulation of a Steering Engine's Stiffness Test System

飞行器舵机刚度测试系统是通过对伺服状态下的舵机施加一定频率和幅值的正弦力矩,同时测量舵机轴的转角变化,最终测得舵机刚度。在结构上,采用高性能的无框架直驱式力矩电动机作为力矩输出单元,通过弹簧杆进行力矩传递以改善力矩加载性能,简化控制模型;在控制上,以可编程多轴运动控制器为控制核心,采用力矩、位置和电流三环的控制策略,实现了基于位置内环的显式力矩控制。仿真结果表明,该系统可达到预期的设计目标,力矩加载幅值误差和相位误差均能满足技术指标要求。

The aircraft steering engine test system can apply a certain frequency and amplitude sinusoidal torque to the steering gear under servo state,and measure the change of the steering angle of the steering engine shaft.In terms of structure,a high-performance frameless direct drive torque motor is used as the torque output unit.Spring rods are used to transmit torque to improve torque loading performance and simplify the control model.In terms of control,the programmable multi-axis motion controller is used as the control core.The control strategy of the torque loop,the position loop and the current loop is used to realize the explicit torque control based on the position inner loop.The simulation results show that the system can achieve the expected design goals,and the torque loading amplitude error and phase error can meet the technical requirements.