宇航计测技术 ›› 2013, Vol. 33 ›› Issue (3): 71-76.doi: 10.12060/j.issn.1000-7202.2013.03.15

• 论文 • 上一篇    下一篇

电动舵机减速器传动特性误差分析与补偿研究

李凯1；袁峰1；胡英辉1   

  1. 1、哈尔滨工业大学电气工程及自动化学院精密仪器研究所，黑龙江哈尔滨 150001
  • 出版日期:2013-06-15 发布日期:2013-06-15
  • 基金资助:
    中央高校基本科研业务费专项资金：HIT.NSRIF.2010100

Error Analysis and Compensation of Speed Reducer in Electrical Steering Engine’s Transmission Characteristics

LI Kai1；YUAN Feng1；HU Ying-hui1   

  1. 1、Institute of Precise Instrument, School of Electrical Engineering and Automation, Harbin Institute of Technology, Ha’erbin, Heilongjiang 150001
  • Online:2013-06-15 Published:2013-06-15

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被引次数

1

摘要： 在电动舵机减速器的传动特性测试实验中，由于机械安装，轴承摩擦和电机驱动器非线性等原因造成的测量误差会折算到传动比测量误差中并降低精度。本文以减速器为研究对象，通过动力学方程建立了该系统的数学模型，通过理论分析将机械安装与轴承摩擦作为已知的系统误差，提出一种根据仿真结果获得补偿量，对实测数据进行预处理从而提高传动比测量精度的新方法。计算结果说明此方法能在一定程度上补偿电机驱动器非线性带来的测量误差。

关键词: 动舵机减速器, 传动特性, 误差分析, 补偿

Abstract: During the course of electric steering engine’s transmission experiment, the measuring errors generated from mechanical installation, bearing friction and electrical machine drivers’ nonlinearities are likely to be converted to ratio’s measurement error, and decrease precision. Subjected to the speed reducer, the mathematical model of such system is established by means of dynamics equations, the measurement errors generated from mechanical installation and bearing friction are regarded as determined system error by theoretical analysis, and a new method is provided of preprocessing actual measuring data and improving ratio precision according to simulation results. The calculated results imply this method is to some extent able to compensate the measurement errors from electrical machine driver nonlinearities.

Key words: Speed reducer of the electric steering engine, Transmission characteristics, Error analysis, Compensation

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