Modeling and characteristics analysis of redundant direct drive servo actuating system
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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.
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Key words:
- redundancy /
- reliability /
- direct drive /
- servo control /
- servo system
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