采用丝杠传动的电动舵机运动学分析

Kinematics Analysis of Electric Servo System Driving by Screw

摘要:

为了改善旋转电动舵机的控制输出中存在的系统振荡问题,针对电动舵机中连杆及摇臂等传动结构导致的非线性不确定特性,文章通过建立传动机构的数学模型,根据其位置变化量及速度变化量关系,确立了控制输出与实际输出在传动过程中的正逆运动学方程,分析了传动机构运动时所引入的非线性环节,并提出了通过修正传动参数来补偿非线性的影响,为伺服系统的分析及控制器设计提供参考,对提高舵机系统的控制性能与控制精度有重要作用。

Abstract:

In order to improve the system oscillation problem in the control output of the electric servo system, in this pa.per, the mathematical model of the transmission mechanism was established according to its position change, which wascaused by the nonlinear uncertainties caused by the transmission structure of the link section and rocker arm in the EMS.According to the relationship between quantity and speed change, the positive and negative kinematic equations of the con.trol output and the actual output in the transmission process were established, the nonlinear links introduced during themovement of the transmission mechanism were analyzed, and it was proposed to compensate the nonlinearity by correctingthe transmission parameters. The influence provides a reference for the analysis of the servo system and the design of thecontroller, and plays an important role in improving the control performance and control accuracy of the electric servo sys.tem.