关键词: 消振电力作动器, 解耦控制, 主导极点法, 广义频率法, 回差矩阵奇异值法

Abstract: The anti-vibration electric actuator adopts the form of four motors independently driving four eccentric masses to achieve vibration reduction, and the traditional parallel control strategy will cause poor control effect due to strong coupling at the output end of the system. In response to the above problems, this article first established a mathematical model of the actuator output force, and proposed a decoupling control strategy of the position loop for the vibration-absorbing electric actuator. The generalized frequency method and the dominant pole method are both used in the parameter design of the control system. Then, the dynamic performance of the system is analyzed, and the stability margin of the decoupling control system is calculated by the stability margin measurement methods such as the hysteresis matrix singular value method. The results show that the system designed in this paper has good dynamic characteristics and robustness. Finally, the principle prototype is developed. The experiment verifies the effectiveness of the control strategy and the rationality of the parameter design.

Key words: vibration damping electric actuator, decoupling control, dominant pole method, generalized frequency method, return difference matrix singular value method