差速器式双余度机电伺服系统的模式切换研究

Mode Switching Research of Dual Redundant Electromechanical Servo System Driven by Differential

研究了在一通道发生故障时,10 kW级差速器式双余度机电伺服系统的模式切换和故障重构过程。通过仿真对比了主-主工作模式和主-备工作模式时系统的暂态特性和频率特性参数;分析了主-主切换模式和主-备切换模式的正弦切换过程;并通过试验实现了在零位时和最大位移时的正弦切换曲线。仿真对比发现,与主-备工作模式相比,主-主工作模式的暂态特性和频率特性的参数更优;试验结果与仿真结果趋势一致,与在最大位移处的切换过程相比,在零位时切换的切换时间和振荡过程更长。因此,对于只有摩擦和惯量的被动负载的10 kW级机电伺服系统,无论采用哪种切换模式,都能实现可靠切换。

In order to study the mode switching and fault reconfiguration of the 10 kW dual redundancy electromechanical servo system driven by differential when one channel fault occurs,through simulation analysis,the system parameters of transient response and frequency characteristic under the active-active working mode are compared with those under the active-standby working mode.The sinusoidal switching process of the active-active switching and active-standby switching are analyzed.The sinusoidal variation curves of the activeactive switching mode and the active-standby switching mode are carried out by the test rig.Simulation comparison shows that,comparison with the active-standby working mode,it is found that the active-active working mode possesses better parameters of transient response and frequency characteristic.Consistent with simulation,the test shows that the switching time and oscillation process of switching at the zero point are longer and non-smoother than those of switching at the maximum displacement point.For the 10 kW electromechanical servo system with only internal friction and inertia load,either switching mode can be switched reliably.