考虑重力因素的离心式作动器运动控制仿真

The Motion Simulation of a Centrifugal Actuator Considering the Gravity Effect

为避免低功率下作动器无法启动和控制过程能耗高的问题,基于两组同速反转偏心质量块机构的方案,考虑质量块重力矩对作动器启动和控制的影响,提出三个运行阶段及其控制算法,即摇摆启动、正弦曲线加速和基于速度补偿的控制;进行了仿真研究,结果表明,作动器启动过程正常,加速过程和指令控制过程平滑、能耗低,该方法可克服重力因素造成的无法启动和控制过程高耗能问题。

A Centrifugal Actuator can generate harmonic vibration force whose amplitude, phase, frequency are tunable, with the advantages of a wide frequency band, a large output force, a compact mechanical structure and a lower power consumption. Multiple types of foreign helicopters have already been equipped with the centrifugal actuator, the critical device of Active Control of Structural Response (ACSR) system. However, there is no such application within China, and the gravity effect is not taken into consideration in theory studies. Gravity may cause start-up failure if the motor power is deficient and also waste energy in the running stage. A design of two groups of twin eccentric masses rotating with a velocity of same magnitude and opposite directions is investigated. Considering the gravity effect on the start-up and the control, a 3-phase control strategy and its algorithm is proposed, comprising a swing-start, a sine-acceleration and a velocity compensated control. Simulation studies are implemented, and the result indicates that the proposed method is effective and can solve the start-failure and high energy-waste induced by gravity.