针对空空导弹的电动舵机系统, 提出了基于传动机构主模态的控制方案, 并利用机构动态特性匹配和主模态法设计了双环控制系统。对曲柄滑块机构中的连杆进行分析, 利用机构动态特性匹配和主模态方法将高阶多自由度动力学模型简化为二自由度自由转子模型。对二自由度模型与控制系统联合建模, 分析机构在有无阻尼状态时谐振主频对系统开环截止频率的影响, 确定了按照无阻尼状态进行系统设计更为可靠。最后, 对传动机构进行了模态测试, 确定了机构动态特性匹配设计方法的可行性。结合风洞测试数据在全弹道飞行平台上对含机构主模态的舵机系统进行了性能验证。模态测试结果表明: 固支舵面第一阶扭转频率为1 210.47 rad/s, 传动机构(含舵面)第一阶扭转频率为1 148.17 rad/s, 与理论1 180.0 rad/s结果一致。全弹道飞行平台外载荷验证显示: 最大铰链力矩为6.8 Nm时, 舵面弹性转角为1.1°, 舵机跟踪自驾仪指令最大误差为±0.1°, 这些结果满足舵机系统对性能指标的要求。

A control scheme for the electromechanical actuator systems in air-to-air missiles was propose based on main modal of a transmission mechanism. and a double-loop control system was designed by matching mechanism dynamic characteristics and main modal method. Firstly, a connecting rod from crank slider mechanism was analyzed and the high order multi-degree-of-freedom dynamic model was simplified into two-degree-of-freedom free rotor model by matching mechanism dynamic characteristics and the main modal method. Then, the two-degree-of-freedom model and control system were modeled jointly to analyze the influence of main resonator model on the cutoff frequency of open-loop system with or without damping states. By which it makes sure that it is more reliable when the system is analyzed at the undamped state. Finally, a modal test was performed for the transmission mechanism and the feasibility of modal dynamic characteristic matching method was confirmed. A performance verification test was done for the electromechanical actuator system containing main model on a whole trajectory flying platform according to the data from wind tunnel measurement. The results show that the first order torsional frequency of clamped support control surface is 1 210.47 rad/s, and that of the transmission modal(consist of the control surface) is 1 148.17 rad/s, which is consistent with the theoretical result of 1 180.0 rad/s. The external loading verification of whole trajectory flying platform indicates that the actuator system meets the demand of performance index when the maximum hinge moment is 6.8 Nm, the elastic angle of control surface is 1.1°and the actuator maximum error of instruction from a tracking autopilot is ±0.1°.