关键词: 电力消振作动器, 同步, 并行独立控制, 交叉耦合控制, 最小奇异值, 稳定裕度

Abstract: The electric vibration absorption actuator controls the rotational motion of the respective eccentric wheels in parallel through a dual-motors system to achieve the active vibration reduction function of a helicopter. However, due to the problems of high nonlinearity of gear backlash, large fluctuation of cycle load of the eccentric wheels and the like, the vibration reduction effect of the electric actuator is reduced, and the vibration reduction function cannot even be achieved. For the problems of the traditional dual-motors parallel independent control system, this paper proposes a load position difference cross-coupled strategy based on multi-input and multi-output, which adopts a dual-motors load position mean value loop and position difference loop combined mode, thus reducing the influence on position synchronous control by backlash nonlinearity and eccentric load. Meanwhile, the minimum singular value of the system return difference matrix is used to analyze the stability margin under parallel independent control strategy and cross-coupled control strategy so as to provide theoretical basis for designing position mean loop and position difference loop controllers. Finally, an electric vibration absorption actuator experimental platform is built, and the experiment of verifying the output force property under the two different strategies is completed, which verifies the effectiveness and the advancement of the cross-couped control.

Key words: the electric vibration absorption actuator, synchronization, parallel independent control, cross-coupled control, the minimum singular value, stability margin