Analysis and Modeling of Internal Disturbance of Electromechanical Actuator

SUN Minghong, LI Ying

Control Engineering of China ›› 2024, Vol. 31 ›› Issue (6) : 1052-1059.

Control Engineering of China ›› 2024, Vol. 31 ›› Issue (6) : 1052-1059.

Analysis and Modeling of Internal Disturbance of Electromechanical Actuator

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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.

Key words

Electromechanical actuator / worm gear and worm / backlash / friction

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SUN Minghong, LI Ying. Analysis and Modeling of Internal Disturbance of Electromechanical Actuator[J]. Control Engineering of China, 2024, 31(6): 1052-1059

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