首先分析了某导弹双摆喷管电动伺服系统的结构原理, 通过对系统的运动分析和建模, 研究了2个垂直安装位置的机电作动器的非线性运动特性和耦合干扰情况, 给出了控制器在任意摆角指令下对作动器伸缩位移的解耦运算; 同时, 研究了摆动力臂与喷管摆角之间的非线性关系, 在此基础上建立含有非线性环节的单个伺服机构数学模型, 调节控制器参数, 分别采用基于时域的阶跃响应法和基于频域的正弦相关分析法, 在Simulink仿真平台上进行仿真, 通过与真实实验数据的比对, 验证了模型的准确性, 为后续深入研究该型伺服机构性能测试打下坚实基础。

The principle of an electric servo system with double pendulum nozzle of a certain type of a missile is analyzed, and the nonlinear characteristics and cross-coupling interference of two vertically-mounted electromechanical actuators are studied through the motion analysis and modeling of the system. The decoupling operation of the expansion, contraction and displacement of the actuator under random swing angle instructions of the controller is given. The nonlinear relationship between the swing arm and the nozzle swing angle is studied. Based on this, a mathematical model of a single servo mechanism with nonlinear links is established, and the controller parameters are adjusted. The time-domain based step response method and the frequency-domain based sinusoidal correlation analysis method are used, and a simulation is carried out on the Simulink platform. The result is compared with the real experimental data, which verifies the accuracy of the model and lays a solid foundation for further research on the performance test of this type of servo mechanism.