同轴集成宏微复合作动器驱动模型的非线性特性

IF 1 4区工程技术 Q4 ENGINEERING, MECHANICAL

Mechanical Sciences Pub Date : 2022-10-12 DOI:10.5194/ms-13-843-2022

Caofeng Yu, Yu Wang, Zhihao Xiao, Ganyong Wu, Yongyong Duan, Kun Yang

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引用次数: 0

摘要

摘要非线性是影响宏微复合作动器定位精度的重要因素之一。为了提高宏微复合作动器驱动模型的定位精度，本文结合音圈电机非线性特性的研究现象，对影响宏微复合作动器宏观运动部分的非线性因素进行建模。首先，在分析其结构和工作原理的基础上，采用有限元法分析了大运动部件工作气隙处磁场强度的变化规律，建立了大运动部件的驱动力模型;其次，通过磁场仿真分析，发现动件存在磁化现象，并建立了静摩擦模型。然后，通过搭建作动器实验测试平台，对实验数据进行采集和处理，建立机电时间常数随宏观运动位移的变化模型。然后，结合stribeck模型和静摩擦模型，建立了大运动部件的动力学模型。最后，利用最小二乘法对参数模型进行辨识，并与实验结果进行了比较。结果表明:宏微复合作动器宏运动部分工作气隙处磁场分布相对均匀，但与宏运动位移和宏运动线圈电流有关;宏微复合作动器宏运动部分启动时，摩擦模型能近似反映摩擦力的变化，宏运动部分的动力学模型能反映宏运动部分的动态特性，匹配度为92.97%。研究结果为宏动微复合作动器的高速大行程定位控制器的研制奠定了理论和技术基础。

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Nonlinear characteristics of the driving model of the coaxial integrated macro–micro composite actuator

Abstract. Nonlinearity is one of the important factors affecting the positioning accuracy of the macro–micro composite actuator. To improve the positioning accuracy of the driving model of the macro–micro composite actuator, this paper combines the research phenomenon of the nonlinear characteristics of the voice coil motor to model the nonlinear factors that affect the macro-moving part of the macro–micro composite actuator. Firstly, based on analyzing its structure and working principle, the variation law of the magnetic field intensity at the working air gap of the macro-motion part is analyzed by the finite element method, and the driving force model of the macro-motion part is established. Secondly, through the magnetic field simulation analysis, there is a magnetization phenomenon in the mover part, and the static friction model is established. Then, the experimental data are acquired and processed by building the experimental test platform of the actuator, and the variation model of the electromechanical time constant with the macro-motion displacement is established. Then, combined with the Stribeck model and the static friction model, the kinetic model of the macro-motion part is established. Finally, using the least square method identify the parameter model, the results are compared with the experiment. The results show that the magnetic field distribution at the working air gap of the macro-motion part of the macro–micro composite actuator is relatively uniform, but it is related to the macro-motion displacement and the macro-motion coil current. When the macro-motion part of the macro-micro composite actuator starts, the friction model can approximately reflect the change of friction force, the kinetic model of the macro-motion part can reflect the dynamic characteristics of the macro-motion part, and the matching degree is 92.97 %. The research results lay a theoretical and technical foundation for the development of a high-speed and large-stroke positioning controller of the macro-motion micro composite actuator.

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来源期刊

Mechanical Sciences ENGINEERING, MECHANICAL-

CiteScore

2.20

自引率

7.10%

发文量

审稿时长

29 weeks

期刊介绍： The journal Mechanical Sciences (MS) is an international forum for the dissemination of original contributions in the field of theoretical and applied mechanics. Its main ambition is to provide a platform for young researchers to build up a portfolio of high-quality peer-reviewed journal articles. To this end we employ an open-access publication model with moderate page charges, aiming for fast publication and great citation opportunities. A large board of reputable editors makes this possible. The journal will also publish special issues dealing with the current state of the art and future research directions in mechanical sciences. While in-depth research articles are preferred, review articles and short communications will also be considered. We intend and believe to provide a means of publication which complements established journals in the field.