摘要
针对新型战术导弹对摆动喷管伺服系统提出的小型化大功率要求,提出了一种基于电动伺服系统的单喷管双摆驱动装置。该装置使用2个相互垂直的直线式电动伺服机构共同推动喷管进行摆动,采用无刷直流电机和滚珠丝杠减速器的结构形式,实现了系统的高功率密度和高效率,可提供大输出力矩,并具有良好控制精度。通过对该系统进行运动分析与建模,研究了2个直线式电动伺服机构的运动非线性特性及相互间交连耦合干扰,分析了两者的成因、随摆角分布规律及其对喷管摆动角位置精度的影响,给出了任意摆角下的双通道指令计算方法,据此采用双通道协同工作的方式精确控制喷管摆动方向和摆动角度。
To meet the miniaturization and high power requirement of swinging nozzle servo system for ATACMS, a system of single nozzle with double swing arm was developed based on Electromechanical Actuator（EMA）. The nozzle was propelled by two vertical linear EMA consisting of brushless DC motor and ball screw reducer, which can realize the high power density and high effi- ciency, and then the large output torque and precise control can also be obtained. According to the kinematics analysis and modeling of the system, the kinematic nonlinear characteristic and cross-linked interference of the two linear EMA were researched, their for- mation reason, distribution regularities with swing angle and the effect to angle position were analyzed, and the computing method of dual channel command was obtained, which can realize the precise control to the direction and angle of swing nozzle by both EMA cooperation working.
出处
《固体火箭技术》
EI
CAS
CSCD
北大核心
2015年第6期888-892,共5页
Journal of Solid Rocket Technology
关键词
摆动喷管
电动伺服系统
滚珠丝杠
无刷直流电机
运动非线性
交连耦合干扰
swinging nozzle
electromechanical actuator
ball screw
btushless DC motor
kinematic nonlinear characteristic
cross-linked interference
