Modeling and characteristics analysis of redundant direct drive servo actuating system
-
摘要: 为了提高数字式直接驱动伺服作动系统的可靠性,对系统进行了余度配置,电气部分采取三余度,机械部分采取二余度,设计了伺服作动系统的余度配置和管理方案.对系统的机理进行了深入研究,建立了二余度阀控液压缸、三余度直流无刷电动机等系统各部分的数学模型,分析了余度配置对系统的可靠性和动静态性能的影响.基于Matlab的仿真平台Simulink对冗余伺服作动系统进行了仿真分析.结果表明,系统在电气二次故障、机械一次故障的情况下仍保持较好的动态特性,系统的余度配置和管理方案使系统可靠性得到提高,动静态性能得到改善,为冗余直接驱动式伺服作动系统的研制提供了理论依据.Abstract: To improve reliability of the digital direct drive servo actuating system, the system was configured redundantly with the electrical components of three redundancies and the mechanical components of two redundancies. Redundancy configuration and management scheme of the redundant servo actuating system were designed. Mechanism of the actuating system was researched thoroughly. Mathematical models of components of the actuating system such as duplex redundancy valve controlled cylinder and triple redundancy motor were built up. Then effects of the redundancy control on the reliability and characteristics of the system were analyzed. Matlab based simulations to the redundant actuating system were performed. Simulation results show that the redundant actuating system maintains good dynamic characteristics after secondary electrical failure and one mechanical failure. Redundant configuration improves reliability and characteristics of the system. It provides theoretical bases for the design of redundant digital direct drive servo actuating system.
-
Key words:
- redundancy /
- reliability /
- direct drive /
- servo control /
- servo system
-
[1] 付永领,裴忠才,王占林. 伺服作动系统的余度控制[J].北京航空航天大学学报,1999,25(5):531-534 Fu Yongling, Pei Zhongcai, Wang Zhanlin. Redundance control of servo actuator system[J]. Journal of Beijing University of Aeronautics and Astronautics,1999,25(5):531-534(in Chinese) [2] 叶宏,曾广商. 三余度数字伺服控制系统建模与动静态特性研究[J].固体火箭技术,2003,26(1):71-75 Ye Hong, Zeng Guangshang. Modeling and analysis of static and dynamic characteristics of triplex redundance digital servo control system[J]. Journal of Solid Rocket Technology,2003,26 (1):71-75(in Chinese) [3] Bolduc L P. X-33 redundancy management system[J]. IEEE Aerosp Electron Syst Mag,2001,16(5):23-28 [4] Lyshevski S E. Direct-drive flight actuators:new challenging problems in nonlinear analysis and control of servo-systems Proc Am Control Conf. Piscataway,NJ:IEEE,2000,2:1098-1102 [5] Lyshevski S E. High-performance direct-drive flight actuators:advanced technology demonstration IEEE Conf Control Appl Proc.Piscataway,NJ:IEEE,1999,2:1229-1234 [6] 纪志成,沈艳霞,姜建国. 基于Matlab无刷直流电机系统仿真建模的新方法[J]. 系统仿真学报,2003,15(12):1745-1749 Ji Zhicheng, Shen Yanxia, Jiang Jianguo. A novel method for modeling and simulation of BLDC system based on Matlab[J].Acta Simulata Systematica Sinica,2003,15(12):1745-1749(in Chinese) [7] 杨浩东,李榕,刘卫国. 无刷直流电动机的数学模型及其仿真[J]. 微电机,2003,36(4):8-10 Yang Haodong, Li Rong, Liu Weiguo. Mathematic model and simulation of BLDC[J]. Micromotors.servo Technique,2003,36(4):8-10(in Chinese) -
点击查看大图
计量
- 文章访问数: 3087
- HTML全文浏览量: 134
- PDF下载量: 923
- 被引次数: 0
下载:
