CAJ | 학술논문

目前电动舵机模型的建立基本上是基于理论的数学推导，所建立的舵机模型与实际舵机模型存在一定的误差。针对此问题，提出一种基于试验实测数据建立舵机模型的方法，搭建自动数据采集试验平台，采用组合窗法对实测数据进行频域转换，得到舵机的频率响应函数并采用非线性最小二乘法辨识舵机模型。对辨识得到的数学仿真结果与实际舵机响应比较，在频域，整个频段内幅频特性最大绝对误差＜1．9 dB；在时域，仿真模型跟踪实际舵机角度的最大误差＜1．5°，延迟时间＜10 ms。结果表明，基于试验数据建立的舵机仿真模型能很好地模拟实际舵机。
목전전동타궤모형적건립기본상시기우이론적수학추도，소건립적타궤모형여실제타궤모형존재일정적오차。침대차문제，제출일충기우시험실측수거건립타궤모형적방법，탑건자동수거채집시험평태，채용조합창법대실측수거진행빈역전환，득도타궤적빈솔향응함수병채용비선성최소이승법변식타궤모형。대변식득도적수학방진결과여실제타궤향응비교，재빈역，정개빈단내폭빈특성최대절대오차＜1．9 dB；재시역，방진모형근종실제타궤각도적최대오차＜1．5°，연지시간＜10 ms。결과표명，기우시험수거건립적타궤방진모형능흔호지모의실제타궤。
Model establishment of the electromechanical actuator is essentially based on the theory of mathematical derivation at present ,however ,the actuator model built by this method is not closed to the actual model.To solve this problem,the paper proposed a method to establish the model of the actuator based on the tested data ,and set up an experimental platform for data automatic collecting ,and also inno-vatively use combination window method to convert the data in the frequency domain ,get the frequency response function then use the nonlinear least squares method to identify the model of the actuator .By combination of the simulated results with the tested data ,it is shown that,in the frequency domain,the maximal absolute error of magnitude is less than 1.9 dB,in the time-domain,the error of angle is less than 1.5°,and the error of dely time is less than 10 ms,The result showed that the simulation model built by tested data is closed to the actuator .Therefore,this method can be applied well to model identification in the project .