Research On Double Motor Cooperative Control System Based On Servo Actuator

Servo actuator is an important device in the area of simulation of the aircraft landing gear loading system in aerospace.The precise and effective force loading test is necessary.This paper puts forward using permanent magnet linear synchronous motor as the loading motor,and permanent magnet synchronous motor as bearing motor.The servo actuator system is composed of the grating ruler ?pressure sensors?connected bearing and electric cylinder.Firstly,a large thrust permanent magnet linear synchronous motor is designed as the loading motor.The motor design and electromagnetic field analysis were carried out by finite element method,and the positioning force was optimized from the two aspects of side force and cogging force.The 9-pole and 10-slot permanent magnet was designed as the loading motor.The main dimensions of linear motor are obtained according to the requirements of the indexes,and the electromagnetic simulation analysis proves that the designed motor can meet the performance requirements.In this paper,two aspects of loading system and bearing system are introduced respectively,and the mathematical models of permanent magnet linear synchronous motor,grating ruler,tension pressure sensor and connecting bearing in the loading system are analyzed.The structure diagram of loading system and bearing system is obtained.According to the closed-loop control strategy,the Simulink model of the servo actuator loading part and the bearing part was built.The overall model of the servo actuator system was obtained by combining the two,and the model was simulated to obtain the characteristics of surplus torque through comparative analysis.Because of the accuracy influence of the surplus force on system,this paper introduces the structure invar iance principle.This paper uses the bearing system control signal feed-forward control to design the feed-forward controller,compared with when without feed-forward control.The simulation results show that this design of feed-forward controller can suppress the effect of the surplus force.Considering the influence of non-linear factors,this paper applies iterative learning control to the force loading system,and then verifies its effectiveness in improving tracking accuracy and system performance through simulation analys is,and tries to combine iterative learning control with feed-forward control to further reduce surplus force.This paper introduces the actuator of loading system,tension pressure sensor,raster ruler,actuator of carrying system,electric cylinder and other parts of the specific model and description,and expounds the electrical connection and mechanical connection of the whole system in detail.In addition,the control interface of the upper computer is programmed.The force loading exper iment is carried out on the built test platform,and the waveform obtained is analyzed.The correctness of the experimental scheme is verified,and the experimental platform designed in this paper is proved to be feasible.