Research on Control Strategy of Two Dimensional Output Force Vibration Damping Electric Actuator

The main spiral blades of helicopter and other non fixed wing aircraft are in the asymmetric and unsteady aerodynamic environment for a long time, which will make the body produce large-scale multi-directional low-frequency vibration, which will become the main vibration source of the body. The linear actuator can only produce single direction driving force, which is difficult to meet the high-precision vibration reduction requirements. Based on this, a direct drive vibration control system based on the space-time coupling method of rotating coordinate system is proposed. Firstly, the mathematical model of the output force of the single side of the electric actuator is deduced, and the space-time coupling method of the rotating coordinate system is proposed to derive the mathematical expression of the two-dimensional vibration suppression output force. Secondly, the two-dimensional output force control strategy based on the cross coupling control of multiple motors is proposed. The controller parameters are designed by state space method and the method of characteristic value of the feedback matrix to ensure the stability of the control system. The controller parameters are optimized according to the sensitivity
$H_{\infty }$
control theory to improve the anti-interference of the closed-loop system. Finally, a 14kg prototype is designed by the proposed control strategy, which completes the synchronous verification experiment of position and speed, steady state and dynamic verification experiment of output force. The experimental results show that the coordinated control strategy of multi motors proposed in this paper makes the actuator output force meet the performance requirements of the system vibration reduction and has a good stability.