新型连续回转电液伺服马达摩擦特性及性能研究

Low-speed friction and performance of new continuously rotating electro-hydraulic servomotor

叶片与定子和转子之间的摩擦是马达摩擦特性的决定因素 ,据此对叶片作了系统的受力分析 ,通过计算机仿真得到了马达的叶片数量与摩擦力矩的变化规律 ,提出了改善马达摩擦特性及提高超低速性能的措施 ,并设计了为验证马达性能的非线性PI和微分前馈的复合控制策略 .通过实验对马达的摩擦特性及性能进行了验证 。

Friction is an important factor to affect the super-low-speed property of the continuous rotary electro-hydraulic servomotor applied to simulators. The systematic analysis of the static frictional characteristic of a new continuously rotating electrohydraulic vane servomotor indicates that the frictional characteristics results in the periodic saltation with rotating angle, which is only theoretically controlled by the output pressure of reducing valve; the adjustable frictional characteristic is very favorable for the improvement of the motor performance. It has been demonstrated that the value of frictional torque and its saltation degree can be greatly reduced when the motor adopts odd vanes compared to even vanes. Some measures has been proposed to improve the frictional property. It is suggested to develop a novel nonlinear proportional-integral (NPI) controller and differential forward feedback. Experimental results have proved that this servomotor can be fitted into a simulator.