弹性大惯量电动舵系统颤振抑制

针对某型无人机弹性大惯量电动舵系统的颤振影响因素，分析了传动刚度、间隙、惯量、阻尼对系统的影响。首先，通过对颤振现象产生的机理分析，定位了颤振产生的原因。其次，通过仿真模拟，分析了双惯量系统的颤振影响因素。最后，通过现场试验验证，认为通过合理增加舵机阻尼与修改控制算法，可以改善连接机构弹性振动、负载大惯量等因素带来的影响。在控制算法中采用输入整形器，有效地抑制了特定方波指令下的舵面颤振。通过试验验证，改进后的舵机抑制了弹性大惯量带来的颤振问题，消除了舵面的残留颤振。

Flutter Suppression of Elastic Large Inertia Electromechanical Actuator System

Aiming at the flutter impact factors of the elastic large inertia electromechanical actuator system in an unmanned aerial vehicle (UAV), the influence of transmission stiffness, clearance, inertia, and damping on the actuator system is analyzed. Firstly, through the analysis of the flutter phenomenon, the cause of the flutter is located. Secondly, the factors affecting the flutter of the double inertia system are analyzed by simulation. Finally, through the experimental verification, it is considered that by properly increasing the damping of the actuator and modifying the control algorithm, the effects of elastic vibration of the connecting mechanism and large load inertia can be reduced. The input shaper is used in the control algorithm to effectively suppress the flutter caused by specific square wave command. Through experimental verification, the improved actuator reduces the flutter caused by elastic large inertia electric, and the residual flutter of the actuator surface is eliminated.