传动间隙引起的电动舵机自振荡现象研究

Research on Self Oscillation of Electric Actuator Caused by Transmission Clearance

应用描述函数法对传动间隙引起的电动舵机自振荡现象进行了研究。从机理上阐明了在空载状态下,间隙引起的电动舵机自振荡现象产生的原因,分析了该自振荡频率和幅值的影响因素,以及不同控制策略对该自振荡的影响。最终对一个工程实例进行了分析,通过仿真模拟出与工程实例完全一样的响应曲线,从而证明了理论的正确性。

The description function method were used to study the self oscillation phenomenon of electric actuator caused by transmission clearance.The reason of the self oscillation phenomenon of the electric actuator caused by the clearance under the no-load condition were explained.The influence factors of the self oscillation frequency and amplitude were analyzed. And influence of different control strategies on the self oscillation were studied. Finally, an engineering example were analyzed. The simulation curve was exactly the same as the engineering example, which proved the correctness of the theory.