电动舵机模块化建模及动刚度仿真

Flutter is a dangerous aeroelastic instability form. The influence of actuator dynamic stiffness on the fin-actuator system flutter characteristics cannot be ignored. Therefore, accurate actuator modeling and simulation are necessary. A modular modeling method and dynamic stiffness computer simulation method for electromechanical actuator are proposed. The object is the actuator composed of DC motor, reduction gear and ball screw-fork. It is divided into submodules with core functions. The main nonlinear factors that may appear are fully considered. Then the whole actuator model is built according to the connection between the submodules. Based on the above, a calculation method using step sine sweep signal as excitation and processing the data by least square method is proposed. Taking a certain actuator as an example, the influence of the actuator main linear and nonlinear parameters on the dynamic stiffness is studied. The modular modeling method has good generality, which is convenient for the modeling of different actuators. The damping of the motor rotor, the transmission ratio of the reducer and the damping at the output shaft have a great influence on the dynamic stiffness, and three nonlinear factors, clearance, contact stiffness and friction, also have important influence.