RSSR空间连杆四轴联动电动舵机研究
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摘要
舵机作为导弹制导与控制系统的执行机构，其性能对导弹飞行的动态品质影响很大。本文在系统总结这一领域研究现状的基础上提出了一种基于滚珠丝杠与空间连杆相结合的四轴联动副翼电动舵机方案，深入研究了运动副间隙、构件柔性对电动舵机系统动态性能的影响，通过仿真分析和实验对比验证了方案的可行性。
论文首先确定了电动舵机的总体方案，包括滚珠丝杠与空间连杆相结合的传动方案和速度与位置双闭环的控制方案。选择直流无刷电机作为功率输入，传动装置一级减速为滚珠丝杠，二级为四RSSR空间连杆组合机构。研究了减速比和转动惯量对舵机负载轨迹的影响，选定总传动比为84。为提高四个输出轴的同步性，对舵机系统中四RSSR空间连杆组合机构进行了运动学研究和参数优化，优化后四个输出轴之间角度误差范围在-0.143°~0.210°之间。
传动间隙和构件柔性是影响机械系统动态性能的关键因素。论文主要研究了含间隙球铰链和空间连杆柔性对舵机系统动态性能的影响。首先利用基于赫兹(Hertz)接触理论建立的Lankarani和Nikravesh模型来描述球铰链中球与球腔的接触力。在此基础上研究间隙对碰撞速度和接触力的影响。之后研究了单个和多个含间隙球铰链与柔性构件等非线性因素对舵机传动系统动态性能的影响。结果显示碰撞产生的接触力是理想铰链的几倍到几十倍，碰撞速度和加速度产生大量波动，使系统动态性能变差；当系统中一通道上含有2个含半径间隙为0.01~0.03mm的球铰链时，与其理想铰链相对比，单一输出轴的位置误差为±0.08o，当考虑环轴和连杆等薄弱环节的柔性时输出轴位置误差增加到±0.081o；通过对系统进行谐振频率仿真分析和实验测试得到实际系统谐振频率在100Hz以上，满足系统指标要求。
论文对含间隙刚柔耦合电动舵机传动系统进行基于ADAMS/Control与Simulink的联合仿真，搭建位置和速度双闭环的仿真框图，调试控制器参数并对虚拟样机进行仿真测试，结果满足系统指标要求。最后本文在Matlab/xPC环境下建立了电动舵机半实物仿真平台，对舵机各项技术指标进行检测。原理样机的输出力矩为10Nm，最大舵偏角达±20o，最大舵偏角速度超过250o/s，带宽23.17Hz，各项性能指标均达到指标要求。
通过对新型四轴联动电动舵机研究表明，滚珠丝杠与RSSR空间连杆相结合的电动舵机方案是可行的，论文研究成果对新型电动舵机的研究工作在理论和工程应用中都具有一定借鉴作用。
Electromechanical Actuator (EMA) as an important part of the missilecontrol systems, whose performance plays a great influence on the dynamicquality of the missile. This paper studied the present situation in this field, proposed anew four simultaneous axes Electromechanical Actuator based on ballscrew and spatial linkage combined, and researched the effect of the dynamicperformance of the electromechanical actuator in detail caused by the motion pairswith clearances and flexible bodies. It proved that the program is worked bysimulation analysis and experimental comparison.
This paper first determined the overall scheme of the electromechanical actuator,including the transmission scheme with ball screws and spatial linkage combining,and the double closed loop control scheme with speed and position. Itselected a brushless DC motor as the power input, and the first reducer is ball screw,the second one is four RSSR spatial linkages combined. It researched the influence ofratio and moment of inertia to the MEA. It selected the total transmission ratio of84.To increase the synchronization of four output shaft, kinematicresearch and the parameter optimization was taken out in four RSSR spatial linkagecombined mechanism. The result is the angle error between the four outputshaft ranges-0.143°to0.210°.
Clearance and flexibility are the key issues that affect the dynamic performanceof mechanical systems. This paper mainly studied the effect of these elements on thedynamic performance. First a non-linear spring-damper contact dynamic force modelbased on Hertz contact theory was established to describe the contact-impact force,called Lankarani and Nikravesh model. Then study the influence of clearances to theimpact speed and contact force. The single and multiple clearances and flex bodies ofnonlinear factors on the dynamic performance of the EMA transmission system wereresearched. Studies have shown that: contact force is several times than ideal force,and the speed and acceleration generated huge fluctuations; when a branch in thesystem containing two ball motion pairs with radius clearance0.01-0.03mm, singleoutput shaft position error is±0.08o, compared with ideal motion pair. Whenconsidering the weak aspects, like circular shaft, linkages, etc. The output shaftposition error to±0.081o; through the analysis of the system frequency andexperimental test, it proved that system resonant frequency above100Hz and met thesystem requirements.
Finally, a co-simulation was established with the flexible multi-body EMAtransmission system with clearances, based on ADAMS/Control and Simulink. Asimulation block diagram of double closed loop with position and speed was built,debugged controller parameters and executed simulation test, and the result was metthe system target. Finally, semi-physical simulation platform of EMA transmissionsystem was established based on Matlab/xPC environment. The result of the testshowed that, the EMA output torque is10Nm; the maximum rudder angle is±20o; themaximum rudder angle speed is250o/s; and bandwidth is23.17Hz. Each of theperformance were met the requirements.
Through the study of the new EMA show that, the ball screw and RSSR spatiallinkage combined EMA is worked well. The work of the thesis provided a guidingrole in the theory and engineering applications on the new electromechanical actuatorresearch work.
论文首先确定了电动舵机的总体方案，包括滚珠丝杠与空间连杆相结合的传动方案和速度与位置双闭环的控制方案。选择直流无刷电机作为功率输入，传动装置一级减速为滚珠丝杠，二级为四RSSR空间连杆组合机构。研究了减速比和转动惯量对舵机负载轨迹的影响，选定总传动比为84。为提高四个输出轴的同步性，对舵机系统中四RSSR空间连杆组合机构进行了运动学研究和参数优化，优化后四个输出轴之间角度误差范围在-0.143°~0.210°之间。
传动间隙和构件柔性是影响机械系统动态性能的关键因素。论文主要研究了含间隙球铰链和空间连杆柔性对舵机系统动态性能的影响。首先利用基于赫兹(Hertz)接触理论建立的Lankarani和Nikravesh模型来描述球铰链中球与球腔的接触力。在此基础上研究间隙对碰撞速度和接触力的影响。之后研究了单个和多个含间隙球铰链与柔性构件等非线性因素对舵机传动系统动态性能的影响。结果显示碰撞产生的接触力是理想铰链的几倍到几十倍，碰撞速度和加速度产生大量波动，使系统动态性能变差；当系统中一通道上含有2个含半径间隙为0.01~0.03mm的球铰链时，与其理想铰链相对比，单一输出轴的位置误差为±0.08o，当考虑环轴和连杆等薄弱环节的柔性时输出轴位置误差增加到±0.081o；通过对系统进行谐振频率仿真分析和实验测试得到实际系统谐振频率在100Hz以上，满足系统指标要求。
论文对含间隙刚柔耦合电动舵机传动系统进行基于ADAMS/Control与Simulink的联合仿真，搭建位置和速度双闭环的仿真框图，调试控制器参数并对虚拟样机进行仿真测试，结果满足系统指标要求。最后本文在Matlab/xPC环境下建立了电动舵机半实物仿真平台，对舵机各项技术指标进行检测。原理样机的输出力矩为10Nm，最大舵偏角达±20o，最大舵偏角速度超过250o/s，带宽23.17Hz，各项性能指标均达到指标要求。
通过对新型四轴联动电动舵机研究表明，滚珠丝杠与RSSR空间连杆相结合的电动舵机方案是可行的，论文研究成果对新型电动舵机的研究工作在理论和工程应用中都具有一定借鉴作用。
Electromechanical Actuator (EMA) as an important part of the missilecontrol systems, whose performance plays a great influence on the dynamicquality of the missile. This paper studied the present situation in this field, proposed anew four simultaneous axes Electromechanical Actuator based on ballscrew and spatial linkage combined, and researched the effect of the dynamicperformance of the electromechanical actuator in detail caused by the motion pairswith clearances and flexible bodies. It proved that the program is worked bysimulation analysis and experimental comparison.
This paper first determined the overall scheme of the electromechanical actuator,including the transmission scheme with ball screws and spatial linkage combining,and the double closed loop control scheme with speed and position. Itselected a brushless DC motor as the power input, and the first reducer is ball screw,the second one is four RSSR spatial linkages combined. It researched the influence ofratio and moment of inertia to the MEA. It selected the total transmission ratio of84.To increase the synchronization of four output shaft, kinematicresearch and the parameter optimization was taken out in four RSSR spatial linkagecombined mechanism. The result is the angle error between the four outputshaft ranges-0.143°to0.210°.
Clearance and flexibility are the key issues that affect the dynamic performanceof mechanical systems. This paper mainly studied the effect of these elements on thedynamic performance. First a non-linear spring-damper contact dynamic force modelbased on Hertz contact theory was established to describe the contact-impact force,called Lankarani and Nikravesh model. Then study the influence of clearances to theimpact speed and contact force. The single and multiple clearances and flex bodies ofnonlinear factors on the dynamic performance of the EMA transmission system wereresearched. Studies have shown that: contact force is several times than ideal force,and the speed and acceleration generated huge fluctuations; when a branch in thesystem containing two ball motion pairs with radius clearance0.01-0.03mm, singleoutput shaft position error is±0.08o, compared with ideal motion pair. Whenconsidering the weak aspects, like circular shaft, linkages, etc. The output shaftposition error to±0.081o; through the analysis of the system frequency andexperimental test, it proved that system resonant frequency above100Hz and met thesystem requirements.
Finally, a co-simulation was established with the flexible multi-body EMAtransmission system with clearances, based on ADAMS/Control and Simulink. Asimulation block diagram of double closed loop with position and speed was built,debugged controller parameters and executed simulation test, and the result was metthe system target. Finally, semi-physical simulation platform of EMA transmissionsystem was established based on Matlab/xPC environment. The result of the testshowed that, the EMA output torque is10Nm; the maximum rudder angle is±20o; themaximum rudder angle speed is250o/s; and bandwidth is23.17Hz. Each of theperformance were met the requirements.
Through the study of the new EMA show that, the ball screw and RSSR spatiallinkage combined EMA is worked well. The work of the thesis provided a guidingrole in the theory and engineering applications on the new electromechanical actuatorresearch work.
引文
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