基于相关测量法的电动舵机系统频率特性测试分析

Analysis on Frequency Characteristic Test of EMA SystemBased on Correlation Measuring Method

摘要:

为解决频率特性分析仪对舵机频率特性分析容易产生时间延迟及Simulink仿真分析中无法求出非线性舵机系统的Bode图的问题,针对某型舵机,采用相关测量法得到舵机的频率特性；首先介绍了相关测量法原理,其次建立了电动舵机的非线性模型,最后应用相关测量法进行仿真分析和实验验证；仿真结果表明相关分析法可以得到非线性舵机系统的Bode图,实验结果为采用相关测量法计算得到的舵机的带宽为31.824,谐振峰值为1.398 dB,频率特性分析仪得到的带宽为31.818,谐振峰值为和1.402 dB,二者结果一致；仿真分析和实验证明了该方法的可行性,大大降低了硬件、仪器对系统响应的影响。

Abstract:

In order to solve the problem of the time delay of frequency characteristic test using frequency response analyzer and Bode diagram of nonlinear EMA system can't be directly obtained by Simulink simulation, correlation measuring method was given to obtain frequency characteristic. Firstly, the principle of correlation measuring method was introduced. Secondly, nonlinear model of EMA was built. At last, simulations and experiments on EMA were carried out using correlation measuring method. The results of simulations show that Bode diagram of nonlinear EMA system can be directly obtained by Simulink simulation. The results of experiments show that bandwidth and resonant peak using correlation measuring method are 31.824 and 1.398 dB, respectively, and bandwidth and resonant peak using Frequency Response Analyzer are 31.818 and 1.402 dB, respectively. The validity of the method is approved through simulations and experiments. It can be concluded that the method greatly reduces the impact of hardware and Frequency Response Analyzer on EMA frequency characteristic.