Analysis and Modeling of Internal Disturbance of Electromechanical Actuator
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Published
2024-06-20
Issue Date
2025-06-05
Abstract
Nonlinear internal disturbances, such as backlash and friction, are usually introduced into the reducer
of electromechanical actuator, which will affect the dynamic and static performance of it to some extent. An
analysis was conducted on the internal disturbance caused by the electric servo reducer. In order to remove the
coupling relationship between the two-stage reducer, it is divided into two parts for separate modeling and then
subjected to series simulation. The worm gear reducer has established a nonlinear friction model that varies
with external loads, while the cylindrical gear reducer has established a backlash model that includes nonlinear
torque transmission characteristics. By comparing the model simulation results with the actual measurement
results, it is confirmed that the model has the same non-linear characteristics as the actuator, the source of
internal disturbance of the electromechanical actuator is verified, and a good platform is provided for the
research of the actuator control algorithm.
SUN Minghong, LI Ying.
Analysis and Modeling of Internal Disturbance of Electromechanical Actuator[J]. Control Engineering of China, 2024, 31(6): 1052-1059