离心式作动器及驱动系统研究与实现

作动器系统作为直升机结构响应主动控制系统（ACSR）执行元件的重要核心部件，其控制性能 直接关系到振动的抑制效果。本文研制了一套基于永磁无刷直流电机驱动的离心式作动器原理样机，详细 阐述了系统组成及工作原理，论述了作动器输出力频率、幅值和相位的调节方式。依据离心式作动器的原 理建立了偏心块的输出力方程，选取了 MAXON 公司生产的 EC60 flat 411678 无刷电机作为驱动源。设计 了作动器伺服控制系统，针对功率驱动中的隔离 DC/DC、自举二极管、自举电容、电流驱动能力及母线支 撑电容等关键参数进行了详细设计。通过实验验证，电机转速误差最终被控制为 1%以内，位置响应时间 小于 50mS，振动抑制在 0.0015g 以下，取得了较好的控制性能，为离心式作动器系统在直升机平台的应用 奠定了基础。

Research and Implementation of Centrifugal Harmonic Force Generator and Drive System

As an important core component of the active control system of helicopter structure response (ACSR), the control performance of the centrifugal actuator system is directly related to the suppression effect. In this paper, a prototype of a centrifugal actuator driven by a permanent magnet brushless DC motor is developed. The system composition and working principle are described in detail, and the adjustment methods of the output force frequency, amplitude and phase of the actuator are discussed. The output force equation of the eccentric block is established based on the principle of the centrifugal actuator. The EC60 flat 411678 produced by MAXON is used as the motor drive source. The actuator servo control system is designed, and the key parameters such as isolation DC/DC, bootstrap diode, bootstrap capacitor, current drive capability and bus support capacitance in power drive are designed in detail. The experiments are carried out, the motor speed error is controlled within 1%, the position response time is less than 50mS, and the vibration is suppressed below 0.0015g. The developed system has achieved good control performance, which lays a foundation for the application of centrifugal actuator system in the helicopter platform.