A electromechanical coupling simulation modeling method for electric servo system

Abstract

This application provides an electromechanical coupling simulation modeling method for an electric steering gear system, relating to the field of simulation technology. The method comprises: dividing the electric steering gear system into multiple submodules based on its functional structure; constructing a sub-simulation model corresponding to each submodule; and integrating the sub-simulation models into an electromechanical coupling simulation model of the electric steering gear system based on the input-output relationships between the submodules. This application divides the steering gear system into several submodules based on their function and establishes a simulation model for each submodule, thereby analyzing the impact of each submodule on the electric steering gear system, thereby constructing a more accurate simulation model of the electric steering gear system.

Description

Technical Field

[0001] The present application relates to the field of simulation technology, and in particular to an electromechanical coupling simulation modeling method for an electric servo system. Background Art

[0002] Servo is a key actuator in aircraft control systems, and its performance impacts the flight quality of the aircraft. Electric servos have gained widespread attention and application in the aircraft industry due to their simple structure, high reliability, excellent processability, ease of use and maintenance, and single energy source.

[0003] In the existing technology, most of the modeling methods of the servo system simplify the transmission mechanism and only consider the nonlinear factors of a single link. There is a big difference between the model and the actual servo system, and it is difficult to reflect the actual performance of the servo system. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide an electromechanical coupling simulation modeling method for an electric servo system, which is used to separately model the various functional parts of the electric servo system, thereby constructing a high-fidelity simulation model. This can effectively study the impact of the various functional parts of the electric servo system on the system performance, thereby reflecting the actual performance of the servo system.

[0005] In a first aspect, an embodiment of the present application provides an electromechanical coupling simulation modeling method for an electric servo system, the method comprising: dividing the electric servo system into a plurality of sub-modules according to the functional structure of the electric servo system; respectively constructing a sub-simulation model corresponding to each sub-module; and integrating the sub-simulation models into an electromechanical coupling simulation model of the electric servo system according to the input-output relationship of the sub-modules.

[0006] In the technical solution of the embodiment of the present application, by separately modeling the different functional modules of the electric servo system, the performance impact of each module on the entire electric servo system can be effectively analyzed, thereby more realistically reflecting the actual performance of the servo system.

[0007] In some embodiments, the plurality of sub-modules include a servo drive module, a motor module, and a transmission assembly module.

[0008] In some embodiments, the sub-simulation model includes a dynamic simulation model; constructing a sub-simulation model corresponding to the transmission component module includes: obtaining the moment of inertia, mass and connection stiffness of the transmission component module; and constructing a dynamic simulation model of the transmission component module based on the moment of inertia, mass and connection stiffness.

[0009] In the technical solution of the embodiment of the present application, various parameters of each component in the transmission assembly module are obtained for constructing a model, so that the constructed dynamic simulation model can clearly reflect the impact of each parameter on the system performance, thereby effectively analyzing the impact of each module and the parameters of each module on the performance of the servo system.

[0010] In some embodiments, the dynamic simulation model includes a nonlinear dynamic simulation model; the transmission component module includes a reduction transmission mechanism; the dynamic simulation model of the transmission component module is constructed based on the moment of inertia, mass and connection stiffness, including: determining the nonlinear factors of the reduction transmission mechanism; generating a nonlinear dynamic simulation model of the transmission component module based on the nonlinear factors, moment of inertia, mass and connection stiffness.

[0011] In the technical solution of the embodiment of the present application, by taking into account the nonlinear factors existing in the reduction transmission mechanism, the constructed model can not only reflect the impact of linear factors on system performance, but also reflect the impact of nonlinear factors on system performance. Therefore, the multi-faceted performance analysis can more realistically reflect the actual performance of the servo system.

[0012] In some embodiments, the reduction transmission mechanism includes a gear reduction mechanism and a fork-rocker mechanism; determining the nonlinear factor of the reduction transmission mechanism includes: obtaining a first gap value of the gear reduction mechanism; obtaining a second gap value of the fork-rocker mechanism; and determining the nonlinear factor of the reduction transmission mechanism based on the first gap value and the second gap value.

[0013] In the technical solution of the present embodiment, the reduction transmission mechanism is further refined, so that the nonlinear factors of the reduction transmission mechanism are further refined into the nonlinear factors of the gear reduction mechanism and the shift fork-rocker mechanism. Therefore, it can accurately reflect the impact of the nonlinear factors of different components in the reduction transmission mechanism on system performance, thereby more realistically reflecting the actual performance of the steering gear system.

[0014] In some embodiments, the reduction transmission mechanism also includes a ball screw reduction mechanism; the connection stiffness includes torsional stiffness and displacement stiffness; a nonlinear dynamic simulation model of the transmission component module is generated based on nonlinear factors, moment of inertia, mass and connection stiffness, including: obtaining the displacement stiffness of the ball screw reduction mechanism; obtaining the torsional stiffness of the gear reduction mechanism and the fork-rocker arm mechanism; and generating a nonlinear dynamic simulation model of the transmission component module based on nonlinear factors, moment of inertia, mass, displacement stiffness and torsional stiffness.

[0015] In the technical solution of the embodiment of the present application, the connection stiffness is refined, and the influence of the ball screw reduction mechanism in the gear reduction mechanism on the performance of the transmission assembly is considered, which reflects the mutual cooperation and influence between the various components in the reduction transmission mechanism.

[0016] In some embodiments, the transmission component module includes a rudder shaft-rudder surface; constructing a sub-simulation model corresponding to the servo driver module includes: obtaining the command signal sent by the host computer and the feedback signal of the rudder shaft-rudder surface; constructing a sub-simulation model of the servo driver module based on the command signal and the feedback signal.

[0017] In the technical solution of the embodiment of the present application, by constructing a simulation model of the servo drive module, the influence of the servo drive module on the performance of the entire steering gear system is reflected, and the modular modeling method more realistically reflects the actual performance of the steering gear system.

[0018] In some embodiments, constructing a sub-simulation model corresponding to the motor module includes: obtaining a voltage value of the servo driver module and a reaction torque of the transmission component module; and constructing a sub-simulation model of the motor module according to the voltage value and the reaction torque.

[0019] In the technical solution of the embodiment of the present application, by constructing a dynamic model of the motor module, the influence of the motor module on the performance of the entire steering gear system is reflected. The modular modeling method more realistically reflects the actual performance of the steering gear system.

[0020] In the second aspect, an embodiment of the present application provides a simulation modeling device for an electric servo system, which includes: a division module for dividing the electric servo system into multiple sub-modules according to the functional structure of the electric servo system; a construction module for respectively constructing a sub-simulation model corresponding to each sub-module; and an integration module for integrating the sub-simulation models into an electromechanical coupling simulation model of the electric servo system according to the input-output relationship of the sub-modules.

[0021] In a third aspect, an embodiment of the present application provides an electronic device comprising: a processor, a memory, a storage medium and a bus, wherein the processor and the memory communicate with each other through the bus; the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the method steps of the first aspect.

[0022] In a fourth aspect, an embodiment of the present application provides a non-transitory computer-readable storage medium, comprising: the computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the method steps of the first aspect.

[0023] Therefore, the model established using the simulation modeling method of an electric servo system provided by this application has the following beneficial effects:

[0024] High fidelity: This model can effectively reflect the input-output relationship of each sub-module of the servo system, as well as the inertia and stiffness characteristics of each component in the reduction transmission mechanism. It also reflects the impact of different nonlinear factors on the dynamic characteristics of the electric servo system, thus providing a powerful reference value for the design of the servo system.

[0025] Good versatility: Using a modular modeling method, for different models of servos, it is only necessary to set different structural parameters or different module combinations. Therefore, the model has good versatility.

[0026] Other features and advantages of the present application will be described in the subsequent description, and in part will become apparent from the description, or will be understood by practicing the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 A flowchart of a simulation modeling method for electromechanical coupling of an electric servo system provided in an embodiment of the present application;

[0029] Figure 2 A schematic diagram of the connection relationship between functional modules of an electric servo system provided in an embodiment of the present application;

[0030] Figure 3 A block diagram of a servo drive module simulation model provided in an embodiment of the present application;

[0031] Figure 4 A block diagram of a motor module simulation model provided in an embodiment of the present application;

[0032] Figure 5 A schematic diagram of a 4-DOF system provided in an embodiment of the present application;

[0033] Figure 6 A block diagram of a gear reduction mechanism simulation model provided in an embodiment of the present application;

[0034] Figure 7 A simulation model block diagram of a ball screw reduction mechanism provided in an embodiment of the present application;

[0035] Figure 8 A simulation model block diagram of a fork-rocker mechanism provided in an embodiment of the present application;

[0036] Figure 9 A block diagram of a rudder shaft-rudder surface simulation model provided in an embodiment of the present application;

[0037] Figure 10A nonlinear model of clearance of a gear reduction mechanism provided in an embodiment of the present application;

[0038] Figure 11 A nonlinear model of the clearance of a fork-rocker arm mechanism provided in an embodiment of the present application;

[0039] Figure 12 An electromechanical coupling simulation model of an electric servo system provided in an embodiment of the present application;

[0040] Figure 13 Response curves of 1° and 5° step signals of a steering gear system provided in an embodiment of the present application;

[0041] Figure 14 The time domain response and frequency domain response of the servo system under stepped sine swept frequency excitation provided in an embodiment of the present application;

[0042] Figure 15 This is a response curve of a 5° step signal of a steering gear system provided in an embodiment of the present application;

[0043] Figure 16 A curve showing the variation of the overshoot amount versus the proportional coefficient of a 5° step signal response of a servo system provided in an embodiment of the present application;

[0044] Figure 17 This is a response curve of a 5° step signal of another servo system provided in an embodiment of the present application;

[0045] Figure 18 A curve showing the variation of the overshoot of a 5° step signal response of a servo system according to an embodiment of the present application with the moment of inertia of the gear reduction mechanism;

[0046] Figure 19 A curve showing the change of the resonant frequency of a steering gear system as a function of the fork clearance provided in an embodiment of the present application;

[0047] Figure 20 A schematic diagram of a simulation modeling device for an electric servo system provided in an embodiment of the present application;

[0048] Figure 21 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of illustration and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0050] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0051] It should be noted that all technical and scientific terms used herein have the same meanings as those commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0052] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0053] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0054] Figure 1 This is a flow chart of an electromechanical coupling simulation modeling method for an electric servo system provided in an embodiment of the present application, such as Figure 1 As shown, the method includes:

[0055] Step 101 : dividing the electric steering gear system into a plurality of submodules according to the functional structure of the electric steering gear system.

[0056] In the specific implementation process, the functional structure refers to the structure of the parts in the steering gear system that can perform independent functions. Therefore, the structure that can perform independent partial functions in the electric steering gear system (abbreviated as: steering gear system) is divided into submodules. Among them, the steering gear system can be divided into a servo drive module, a motor module and a transmission component module. Since the transmission component module is a module composed of a reduction transmission mechanism and a rudder shaft-rudder surface, the steering gear system can also be subdivided into a servo drive module, a motor module, a reduction transmission mechanism module and a rudder shaft-rudder surface. Since the reduction transmission mechanism can be subdivided into a gear reduction mechanism, a ball screw reduction mechanism and a shift fork-rocker arm mechanism, the steering gear system can be further subdivided into: a servo drive module, a motor module, a gear reduction mechanism, a ball screw reduction mechanism, a shift fork-rocker arm mechanism and a rudder shaft-rudder surface. It should be noted that the division of the steering gear system can be divided according to actual conditions, and this application does not make specific restrictions on this.

[0057] Step 102: construct a sub-simulation model corresponding to each sub-module.

[0058] In the specific implementation, the construction of sub-simulation models corresponding to each sub-module is described, taking the division of the servo system into the servo drive module, motor module, and transmission component module as an example. Because the construction of the sub-simulation model corresponding to the transmission component module takes into account the influence of the gear reduction mechanism, ball screw reduction mechanism, and shift fork-rocker mechanism in the rudder shaft-rudder surface and reduction transmission mechanism, the electric servo system is further refined. It should be noted that the decision to refine the transmission component module can be made based on actual circumstances and is not specifically limited in this application.

[0059] Figure 2 This is a schematic diagram of the connection relationship between the functional modules of an electric servo system provided in an embodiment of the present application. Figure 2 As shown, the steering gear system includes a servo driver module 201, a motor module 202, and a transmission assembly module 203. The transmission assembly module includes a gear reduction mechanism 2031, a ball screw reduction mechanism 2032, a shift fork-rocker mechanism 2033, and a rudder shaft-control surface 2034. The input and output relationships of data signals and the coordination relationships between modules are determined based on the connection relationships between the modules. The connection relationship refers to the physical assembly and contact relationship between the various mechanisms of the steering gear, which is reflected in the model as the transmission relationship of data signals between modules.

[0060] according to Figure 2It can be seen that the servo driver receives the command signal and the position feedback signal of the rudder shaft and the rudder surface from the external device, and transmits the voltage value to the motor to drive the motor to rotate. It should be noted that the external device refers to a device that can send commands. It can be a host computer or a remote control, etc., which can be selected according to the actual situation. This application does not make specific restrictions on this. The command signal can be a command angle, angular velocity, angular acceleration, etc., and the feedback signal can be the feedback angular displacement, angular velocity, angular acceleration, etc. of the rudder shaft. The corresponding command information can be sent to the servo driver according to the actual situation. This application does not make specific restrictions on this.

[0061] After receiving the voltage output from the servo driver, the motor generates a magnetic field to drive the windings, generating the angular displacement of the motor rotor. Because the motor is connected to the gear reduction mechanism within the reduction transmission, it is subject to the reaction torque of the gear reduction mechanism. Therefore, the motor's input signal consists of the voltage output from the servo driver, which drives the motor, and the reaction torque of the gear reduction mechanism. The output signal is the angular displacement of the motor rotor.

[0062] The reduction transmission mechanism transmits the rotation of the motor and reduces the angular velocity of the rotation and transmits it to the rudder shaft. At the same time, it is subjected to the reaction torque of the rudder shaft and provides a reaction torque to the motor. Therefore, the input signal of the reduction transmission mechanism is the angular displacement of the motor and the reaction torque of the rudder shaft, and the output signal is the angular displacement transmitted to the rudder shaft and the reaction torque to the motor.

[0063] The reduction transmission mechanism is further divided into gear reduction mechanisms, ball screw reduction mechanisms, and slewing fork-rocker mechanisms. The input signal of the gear reduction mechanism is the output angular displacement of the motor and the reaction torque of the ball screw reduction mechanism, while the output signal is the angular displacement transmitted to the ball screw reduction mechanism and the reaction torque on the motor. The input signal of the ball screw reduction mechanism is the output angular displacement of the gear reduction mechanism and the reaction torque of the slewing fork in the slewing fork-rocker mechanism, while the output signal is the angular displacement transmitted to the slewing fork in the slewing fork-rocker mechanism and the reaction torque on the gear reduction mechanism. The input signal of the slewing fork-rocker mechanism is the output angular displacement of the ball screw reduction mechanism and the reaction torque of the rudder shaft, while the output signal is the angular displacement transmitted to the rudder shaft and the reaction torque on the ball screw reduction mechanism.

[0064] The rudder shaft-rudder surface is subjected to the torque of the reduction transmission mechanism and the external load on the rudder surface, and at the same time gives a reaction torque to the reduction transmission mechanism. Therefore, the input signal of the rudder shaft-rudder surface is the torque of the reduction transmission mechanism and the external load on the rudder surface, and the output signal is the reaction torque to the reduction transmission mechanism and the feedback angular displacement to the servo driver.

[0065] In some embodiments, the transmission component module includes a rudder shaft-rudder surface; a sub-simulation model corresponding to the servo driver module is constructed based on the input and output signals of the servo driver, including: obtaining the command signal sent by the host computer and the feedback signal of the rudder shaft-rudder surface; and constructing a sub-simulation model of the servo driver module based on the command signal and the feedback signal.

[0066] During implementation, the host computer sends a command angle signal to the servo driver and receives feedback on the rudder shaft angular displacement from the rudder shaft and rudder surface. After processing by the servo driver, the host computer transmits a voltage value to the motor to drive the motor. It should be noted that in addition to the command angle signal, the command information can also include angular velocity and angular acceleration, and the feedback signal can also include angular velocity and angular acceleration, in addition to angular displacement. The selection of command and feedback signals can be based on actual conditions and is not specifically limited in this application.

[0067] Figure 3 A servo drive module simulation model block diagram provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the servo drive adopts PD control, and the input signal is the command angle θ sent by the host computer. c and the rudder axis angular displacement θ2, the output voltage value U a , K pwn and U m Indicates the amplification parameter of the servo drive.

[0068] By constructing a simulation model of the servo drive module, the impact of the servo drive module on the performance of the entire servo system is reflected. The modular modeling method more realistically reflects the actual performance of the servo system.

[0069] In some embodiments, a sub-simulation model corresponding to the motor module is constructed based on the input and output signals of the motor, including: obtaining the voltage value of the servo driver module and the reaction torque of the transmission component module; and constructing the sub-simulation model of the motor module based on the voltage value and the reaction torque.

[0070] In practice, the motor receives the voltage from the servo driver and the reaction torque from the gear reduction mechanism, outputting the angular displacement of the motor rotor. A motor model is established by combining the motor voltage equation and the torque balance equation.

[0071] Among them, the voltage equation of the motor is shown in Formula 1,

[0072]

[0073] Where:

[0074] L——armature phase inductance;

[0075] R——armature phase resistance;

[0076] K e ——back electromotive force constant;

[0077] i——armature current;

[0078] θ0——motor rotor angular displacement.

[0079] The torque balance equation of the motor is shown in Formula 2 and Formula 3.

[0080] T e =K T ·i(2)

[0081]

[0082] Where:

[0083] K T ——electromagnetic torque constant;

[0084] T e ——Electromagnetic torque of the motor;

[0085] J m ——motor rotor moment of inertia;

[0086] B v ——motor damping coefficient;

[0087] T0 - the reaction torque of the integral gear pair on the motor shaft.

[0088] Figure 4 A motor module simulation model block diagram provided in an embodiment of the present application, such as Figure 4 As shown, the input signal of the motor is the voltage value U output by the servo driver a The gear reduction mechanism exerts a reaction torque T0 on the motor, and the output is the angular displacement θ0 of the motor rotor. Figure 4 Please refer to Table 1 for explanation of the parameters involved.

[0089] Table 1

[0090]

[0091] By constructing a simulation model of the motor module, the impact of the motor module on the performance of the entire servo system is reflected. The modular modeling method more realistically reflects the actual performance of the servo system.

[0092] In some embodiments, the sub-simulation model includes a dynamic simulation model; constructing a sub-simulation model corresponding to the transmission component module includes: obtaining the moment of inertia, mass and connection stiffness of the transmission component module; and constructing a dynamic simulation model of the transmission component module based on the moment of inertia, mass and connection stiffness.

[0093] In the specific implementation process, the transmission assembly module includes a reduction transmission mechanism and a rudder shaft-rudder surface, and the reduction transmission mechanism includes a gear reduction mechanism, a ball screw reduction mechanism and a shift fork-rocker arm mechanism. It should be noted that the dynamic simulation model of this embodiment can be called a linear dynamic simulation model.

[0094] To construct a dynamic simulation model of the transmission component module based on the moment of inertia, mass, and connection stiffness, follow these steps:

[0095] Step 1: Based on the force transmission relationship of the servo's mechanical transmission mechanism, simplify the transmission assembly module into a multi-degree-of-freedom system. This system is composed of the concentrated mass of each component in the transmission assembly module and the connection stiffness between the components. It should be noted that the transmission rudder shaft assembly can be simplified into a 4-degree-of-freedom system, a 6-degree-of-freedom system, etc., which can be determined according to actual circumstances and is not specifically limited in this application.

[0096] Step 2: Use CAD modeling to extract the moment of inertia or mass of each component in the transmission assembly. The components in the transmission assembly refer to the rudder shaft and rudder surface, the gear reduction mechanism in the reduction transmission mechanism, the ball screw reduction mechanism, and the shift fork and rocker arm mechanism. It should be noted that in addition to extracting the moment of inertia and mass through CAD modeling, physical measurement can also be used to extract the moment of inertia or mass. The method of acquisition can be selected based on actual circumstances and is not specifically limited in this application.

[0097] Step 3: Use high-precision finite element modeling and static analysis to obtain the connection stiffness between the various parts of the transmission assembly module. It should be noted that the connection stiffness can also be obtained through experiments. The method of obtaining can be selected according to actual conditions and is not specifically limited in this application.

[0098] Step 4: Use the second-kind Lagrangian equation to establish the linear dynamic equation of the above multi-degree-of-freedom system, as shown in Formula 4.

[0099]

[0100] Where, [M] is the moment of inertia or inertia matrix of each component of the servo system reduction transmission mechanism; [C] is the damping matrix of each component of the servo system reduction transmission mechanism; [K] is the connection stiffness matrix between each component of the servo system reduction transmission mechanism; {x} is the generalized displacement response vector of each component of the servo system; is the generalized velocity response vector of each component of the servo system; is the generalized acceleration response vector of each component of the servo system; {F} is the external load vector.

[0101] Step 5: Build a dynamic simulation model for the transmission assembly module. The elastic force and generalized displacement generated by the connection stiffness in Equation 4 are used as the inputs and outputs of the reduction transmission mechanism and the rudder shaft-rudder surface submodules in the transmission rudder shaft assembly module, following the force transmission relationship and rotation sequence of the components in the reduction transmission mechanism.

[0102] In some embodiments, the transmission assembly module is simplified into a 4-DOF system. Figure 5 A schematic diagram of a 4-DOF system provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the angular displacement θ1 of the screw in the gear reduction mechanism and the ball screw reduction mechanism is the first degree of freedom, the displacement x of the nut in the ball screw reduction mechanism is the second degree of freedom, the angular displacement θ2 of the sleeve in the fork-rocker mechanism is the third degree of freedom, and the angular displacement θ3 of the rudder shaft-rudder surface is the fourth degree of freedom. K t1 is the torsional stiffness of the gear reduction mechanism, K t3 is the equivalent stiffness of the fork-rocker mechanism, K t4 is the equivalent stiffness of the rudder shaft, K zc is the bearing stiffness, K sg is the contact stiffness of the ball screw reduction mechanism, and x is the displacement of the nut in the ball screw reduction mechanism.

[0103] When using CAD modeling to extract the moment of inertia or mass of each component, including the moment of inertia J of each gear and screw of the gear reduction mechanism, A , where J A =J1i 13 2 +J2i 23 2 +J3+J sg , J1 represents the moment of inertia of the motor gear, J2 represents the moment of inertia of the duplex gear, J3 represents the moment of inertia of the screw gear, J sg Indicates the moment of inertia of the screw in the ball screw reduction mechanism. The mass M of the nut in the ball screw reduction mechanism B , the moment of inertia J of the shaft sleeve in the fork-rocker mechanism C , the moment of inertia of the rudder shaft and rudder surface J D , where J D =J dz +J dm , J dz represents the moment of inertia of the rudder shaft, J dm represents the moment of inertia of the rudder surface, i 13 Indicates the transmission ratio between the motor gear and the screw gear, i 23 Indicates the transmission ratio between the duplex gear and the lead screw gear.

[0104] Obtain the connection stiffness between parts, including the torsional stiffness K of the gear reduction mechanism, through high-precision finite element modeling and static analysis t1 , the equivalent stiffness K2 of the ball screw reduction mechanism, the equivalent stiffness K of the fork-rocker mechanism t3 And the equivalent stiffness K of the rudder shaft t4 .

[0105] After obtaining the moment of inertia, mass, and connection stiffness of each component, the linear dynamic equation of the above 4-DOF system is established based on Formula 4 using the second-kind Lagrangian equation, as shown in Formula 5.

[0106]

[0107] Where θ0 represents the output angular displacement of the motor, θ1 represents the output angular displacement of the gear reduction mechanism, x represents the output displacement of the ball screw reduction mechanism, θ2 represents the output angular displacement of the fork-rocker mechanism, and θ3 represents the angular displacement of the rudder shaft; M B Indicates the mass of the nut in the ball screw reduction mechanism, L bc Indicates the length of the lever arm of the fork. represents the output angular acceleration of the gear reduction mechanism, represents the output angular acceleration of the fork-rocker arm mechanism, are the angular acceleration of the rudder axis, represents the output acceleration of the ball screw reduction mechanism. K2 is the sum of the series stiffness of the bearing stiffness and the contact stiffness of the ball screw reduction mechanism, as shown in Formula 6,

[0108]

[0109] Finally, a dynamic simulation model of the transmission component module is established based on Equation 5. The connection stiffness and generalized displacement in Equation 5 are set as the input and output of each submodule of the reduction transmission mechanism and the rudder shaft-rudder surface according to the rotation sequence and force transmission relationship of each component in the reduction transmission mechanism.

[0110] in, Figure 6 A simulation model block diagram of a gear reduction mechanism provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the output of the gear reduction mechanism is θ1 and K t1 θ1, the input is θ0 and Figure 6 Please refer to Table 2 for explanation of the parameters involved.

[0111] Table 2

[0112]

[0113]

[0114] Figure 7 A simulation model block diagram of a ball screw reduction mechanism provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the output of the ball screw reduction mechanism is x and K2 (x-θ1 / i3), and the input is θ1 and Figure 7 Please refer to Table 3 for explanation of the parameters involved.

[0115] Table 3

[0116]

[0117]

[0118] Figure 8 A simulation model block diagram of a fork-rocker mechanism provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the output of the fork-rocker mechanism is θ2 and K t3 (θ2-xL bc ), input is x and K t4 (θ3-θ2). Figure 8 Please refer to Table 4 for explanation of the parameters involved.

[0119] Table 4

[0120]

[0121] Figure 9 A block diagram of a rudder shaft-rudder surface simulation model provided in an embodiment of the present application is shown as follows: Figure 9 As shown, the output of the rudder shaft and rudder surface is K t4 (θ3-θ2), the input is θ2 and M0sin(ωt). Figure 9 Please refer to Table 5 for explanation of the parameters involved.

[0122] Table 5

[0123]

[0124] By obtaining various parameters of each component in the transmission assembly module for model construction, the constructed dynamic simulation model can clearly reflect the impact of each parameter on the system performance, thereby more realistically reflecting the actual dynamic performance of the servo system.

[0125] Based on the characteristics of the reduction transmission mechanism of the servo system, and considering uncertain factors such as processing and manufacturing tolerances and assembly processes, it is analyzed that there is usually a gap nonlinearity factor between the various components of the servo system. Specifically, the gear reduction mechanism in the reduction transmission mechanism will have a certain gap to ensure that the gears do not get stuck, and the fork-rocker arm mechanism will also retain a certain gap. Therefore, the gap nonlinearity factor has a certain impact on the performance of the servo system.

[0126] According to the characteristics of the reduction transmission mechanism of the servo system and considering that the support bearings of each part often have friction torque, it is analyzed that the various components of the servo system usually have friction nonlinear factors. Specifically, the support bearings at both ends of the screw in the ball screw reduction mechanism in the reduction transmission mechanism will generate friction torque during the rotation of the screw after being assembled and pre-tightened in a face-to-face manner; the support bearings at both ends of the sleeve in the fork-rocker arm mechanism will also generate friction torque for the same reason. Therefore, it is necessary to consider the impact of friction nonlinear factors on the performance of the servo system.

[0127] Based on the above considerations, in some embodiments, the dynamic simulation model includes a nonlinear dynamic simulation model; the transmission component module includes a reduction transmission mechanism; the dynamic simulation model of the transmission component module is constructed according to the moment of inertia, mass and connection stiffness, including: determining the nonlinear factors of the reduction transmission mechanism; generating a nonlinear dynamic simulation model of the transmission component module according to the nonlinear factors, moment of inertia, mass and connection stiffness.

[0128] It should be noted that nonlinear factors refer to input factors in system dynamics modeling that result in a nonlinear relationship between input and output. Nonlinear factors can be gap nonlinear factors or friction nonlinear factors. In practical considerations, one may choose to consider only the gap nonlinear factor, only the friction nonlinear factor, or both the gap nonlinear factor and the friction nonlinear factor, depending on the actual situation. This application does not impose specific limitations on this.

[0129] In the specific implementation process, the steps of constructing a nonlinear dynamics simulation model considering the nonlinear factors of friction are as follows:

[0130] Step 1: Select an appropriate friction nonlinear model to describe the friction nonlinearity in the servo reduction transmission mechanism. It should be noted that common friction nonlinear models include the Coulomb friction model, the Stribeck friction model, the Iwan friction model, and others. The selection of a suitable friction nonlinear model can be based on practical circumstances and is not specifically limited in this application.

[0131] Step 2: Based on the friction nonlinear model and linear dynamic equation, the dynamic equation of the transmission component module containing friction nonlinear factors under the action of rudder load is constructed.

[0132] Step 3: Establish a nonlinear dynamic model of friction based on the dynamic equation.

[0133] In some embodiments, a Coulomb friction nonlinear model is used to describe the friction nonlinearity factor in the steering gear reduction transmission mechanism, as shown in Formula 7:

[0134]

[0135] Where A is the absolute value of the friction torque, x i is the displacement of the ith degree of freedom, is the velocity of the i-th degree of freedom, and sign is the sign function.

[0136] According to Formula 4 and Formula 7, the dynamic equation of the transmission component module containing friction nonlinear factors under the action of the rudder load can be obtained, as shown in Formula 8.

[0137]

[0138] Where, {f r (x)} is the friction nonlinear force matrix of the reduction transmission mechanism of the servo system.

[0139] In the specific implementation process, the steps of constructing a nonlinear dynamics simulation model considering the gap nonlinear factors are as follows:

[0140] Step 1: Select an appropriate gap-type nonlinear model to describe the gap nonlinearity in the servo reduction transmission mechanism. It should be noted that gap-type nonlinear models include center gap type, initial offset gap type, and others. The choice can be made based on actual conditions and is not specifically limited in this application.

[0141] Step 2: Based on the gap-type nonlinear model and the linear dynamic equation, the dynamic equation of the transmission component module containing the gap nonlinear factor under the action of the rudder load is constructed.

[0142] Step 3: Establish a gap nonlinear dynamic model based on the dynamic equation.

[0143] In some embodiments, a central gap nonlinear model is used to describe the gap nonlinearity factor in the steering gear reduction transmission mechanism, wherein the elastic restoring force includes a linear part and a nonlinear part, and is represented by a piecewise function, as shown in Formula 9:

[0144] f nl (Δx ij )=f L (Δx ij )+f N (Δx ij ) (9)

[0145] Among them, the linear part is the product of the stiffness matrix and the displacement vector, as shown in Formula 10,

[0146] f L (Δx ij )=kΔx ij (10)

[0147] The nonlinear part is represented by a function of the displacement difference, as shown in Equation 11,

[0148]

[0149] Where δ is the gap value, Δx ij is the displacement difference between the i-th degree of freedom and the j-th degree of freedom.

[0150] According to formula 4 and formula 11, the dynamic equation of the transmission rudder shaft assembly module containing the gap nonlinear factor under the action of the rudder surface load can be obtained, as shown in formula 12.

[0151]

[0152] In the formula, {f N (x)} is the nonlinear force matrix of the reduction transmission mechanism of the servo system.

[0153] By considering the nonlinear factors existing in the reduction transmission mechanism, the constructed model can not only reflect the influence of linear factors on system performance, but also reflect the influence of nonlinear factors on system performance, thereby more realistically reflecting the actual performance of the servo system.

[0154] To intuitively understand the impact of nonlinear factors of various components in the reduction transmission mechanism on the steering gear system, a detailed analysis of the nonlinear factors of clearance in the reduction transmission mechanism is conducted. Specifically, in some embodiments, the reduction transmission mechanism includes a gear reduction mechanism and a shift fork-rocker mechanism. Determining the nonlinear factors of the reduction transmission mechanism includes: obtaining a first clearance value of the gear reduction mechanism; obtaining a second clearance value of the shift fork-rocker mechanism; and determining the nonlinear factors of the reduction transmission mechanism based on the first clearance value and the second clearance value.

[0155] A nonlinear model of the clearance of the gear reduction mechanism is established. Assuming that the clearance type of the gear reduction mechanism is a central clearance type, the elastic restoring force is divided into a linear part and a nonlinear part, and is expressed by a piecewise function, as shown in Formula 13.

[0156] f nl (θ1)=f L (θ1)+f N (θ1)(13)

[0157] The linear part is shown in formula 14.

[0158] f L (θ1)=K t1 θ1(14)

[0159] The nonlinear part is shown in formula 15,

[0160]

[0161] Where θ1 is the output angular displacement of the gear reduction mechanism, Kt1 is the torsional stiffness of the gear reduction mechanism, and δ1 is the clearance value of the gear reduction mechanism, that is, the first clearance value.

[0162] A nonlinear model of the clearance of the fork-rocker mechanism is established. Assuming that the clearance type of the fork-rocker mechanism is a central clearance type, the elastic restoring force is divided into a linear part and a nonlinear part, and is expressed by a piecewise function, as shown in Formula 16.

[0163] f nl (Δx 23 )=f L (Δx 23 )+f N (Δx 23 )(16)

[0164] The linear part is shown in formula 17.

[0165] f L (Δx 23 )=K t3 Δx 23 (17)

[0166] The nonlinear part is shown in formula 18,

[0167]

[0168] Where, Among them, θ2 is the output angular displacement of the fork-rocker mechanism, x is the output displacement of the ball screw reduction mechanism, L bc is the lever arm length of the fork, K t3 is the equivalent stiffness of the fork-rocker arm mechanism, and δ3 is the clearance value of the fork-rocker arm mechanism, that is, the second clearance value.

[0169] Substituting the nonlinear part of the clearance nonlinear model of the gear reduction mechanism and the fork-rocker mechanism into Formula 5, the dynamic equation of the transmission rudder shaft assembly module under the action of the rudder surface load containing the clearance nonlinear factor is obtained, as shown in Formula 19.

[0170]

[0171] Where, f N (θ1) is the nonlinear part of the clearance nonlinear model of the gear reduction mechanism, f N (x, θ2) is the nonlinear part of the clearance nonlinear model of the fork-rocker mechanism, and the other parameters are the same as those in Formula 5.

[0172] According to the clearance nonlinear model of the gear reduction mechanism and the clearance nonlinear model of the fork-rocker arm mechanism, the clearance nonlinear models of the gear reduction mechanism and the fork-rocker arm mechanism are established.

[0173] Figure 10 A nonlinear model of the clearance of a gear reduction mechanism provided in an embodiment of the present application is as follows: Figure 10 As shown in Figure 2, the center clearance model is added before the connection stiffness coefficient in the gear reduction mechanism model to form a nonlinear model of the clearance of the gear reduction mechanism. Please refer to Table 2 for an explanation of the parameters involved.

[0174] Figure 11 A nonlinear model of the clearance of a fork-rocker arm mechanism provided in an embodiment of the present application is as follows: Figure 11 As shown in Figure 3, the center clearance model is added before the connection stiffness coefficient in the fork-rocker arm mechanism model to form a nonlinear clearance model for the fork-rocker arm mechanism. See Table 3 for an explanation of the parameters involved.

[0175] In some embodiments, the reduction transmission mechanism also includes a ball screw reduction mechanism; the connection stiffness includes torsional stiffness and displacement stiffness; a nonlinear dynamic simulation model of the transmission component module is generated based on nonlinear factors, moment of inertia, mass and connection stiffness, including: obtaining the displacement stiffness of the ball screw reduction mechanism; obtaining the torsional stiffness of the gear reduction mechanism and the fork-rocker arm mechanism; and generating a nonlinear dynamic simulation model of the transmission component module based on nonlinear factors, moment of inertia, mass, displacement stiffness and torsional stiffness.

[0176] The specific implementation process can be found in the above embodiments and will not be described in detail here.

[0177] The reduction gear mechanism is further refined, with the nonlinear factors of the reduction gear mechanism being broken down into the nonlinear factors of the gear reduction mechanism and the fork-rocker mechanism. This allows for an accurate reflection of the impact of the nonlinear factors of different reduction gear mechanism components on system performance, and thus a more realistic reflection of the actual performance of the servo system.

[0178] Step 103 : Integrate the sub-simulation models into an electromechanical coupling simulation model of the electric servo system according to the input-output relationship of the sub-modules.

[0179] During implementation, the simulation models of the servo driver module, motor module, and transmission assembly module described in the above embodiments are connected based on the signal input and output relationships to form an electromechanical coupling simulation model of the electric servo system. The simulation model of the transmission assembly module includes both a linear dynamics simulation model and a nonlinear dynamics model. In practical applications, if the transmission assembly module does not involve nonlinear factors, only a linear dynamics simulation model can be considered. If the transmission assembly module involves nonlinear factors, a nonlinear dynamics simulation model must be considered. Therefore, in practical applications, the simulation model of the transmission assembly is constructed based on actual requirements.

[0180] Figure 12 An electromechanical coupling simulation model of an electric servo system provided in an embodiment of the present application is as follows: Figure 12 As shown in the figure, the input and output of the servo driver (servo controller), motor, gear reduction mechanism, ball screw reduction mechanism, shift fork-rocker arm mechanism and rudder shaft-rudder surface are connected in sequence to form an electromechanical coupling simulation model of the electric servo system.

[0181] In order to verify the effectiveness of the electromechanical coupling simulation model of the electric servo system proposed in the above embodiment, the experimental analysis process and results are given:

[0182] Specifically, the time domain response analysis of the electromechanical coupling dynamic model of the electric servo system. Figure 13 The response curves of the 1° and 5° step signals of a servo system provided in an embodiment of the present application are as follows: Figure 13 As shown in the figure, the electric servo system is input with step signals of amplitudes of 1° and 5° respectively, and the rudder angle step response curves are obtained by simulation. These curves are compared with the response curves of a simplified servo model that uses a transmission ratio to replace the mechanical transmission mechanism and a simplified servo model that uses a transmission ratio + clearance.

[0183] from Figure 13 It can be seen that the step response curve of the electromechanical coupled dynamic model of the electric servo system established in this application can reflect the actual overshoot and oscillation of the servo, while the transmission ratio model and the transmission ratio + clearance model cannot reflect the actual response of the servo. This results in an electromechanical coupled dynamic model of the electric servo that more accurately reflects the actual dynamic performance of the servo system, providing a certain methodological foundation for studying the dynamic characteristics of the servo system and further developing the servo system design, and has important application value.

[0184] Frequency domain response analysis of the electromechanical coupled dynamic model of an electric servo system. Figure 14 The time domain response and frequency domain response of the servo system under the stepped sine swept frequency excitation provided in the embodiment of the present application are as follows: Figure 14 As shown in the figure, the command signal of the electric servo system is set to 0°, a stepped sine frequency sweep signal is applied to the rudder surface, the time domain response of the rudder surface is measured, and the response signal is converted into a frequency domain signal using fast Fourier transform to obtain the frequency domain characteristics of the servo system.

[0185] In some embodiments, the present application also provides a parameter analysis and design method for a steering servo drive based on an electromechanical coupling simulation modeling method for an electric steering gear system. Taking a steering gear system including a servo drive as an example, a variable parameter analysis is performed on the proportional coefficient in the servo drive to determine the proportional coefficient of the servo drive that satisfies an overshoot of less than 0.5% in response to a 5° step signal.

[0186] Step 1: Based on the electromechanical coupling simulation model of the electric servo system established in the above embodiment, the servo command signal is set to a 5° step signal.

[0187] Step 2: Change the proportional coefficient in the servo driver and measure the rudder response of the servo system, such as Figure 15 shown. Figure 15 This is a response curve of a 5° step signal of a steering gear system provided in an embodiment of the present application.

[0188] Step 3: Calculate the overshoot of the response and analyze the relationship between the servo output response and the proportional coefficient. Figure 16 As shown, Figure 16 This is a curve showing the change of the overshoot of a 5° step signal response of a servo system as a inverse of the proportional coefficient provided in an embodiment of the present application.

[0189] Step 4: From Figure 15 and Figure 16 It can be seen that when the proportional coefficient is 14-18, the overshoot is less than 0.5%, but when the proportional coefficient is 14 and 16, the servo system takes a long time to reach a steady state. Therefore, the proportional coefficient of the servo drive of the servo system is determined to be 18.

[0190] In some embodiments, the present application also provides a method for parameter analysis and design of a steering gear reduction transmission mechanism based on an electromechanical coupling simulation modeling method for an electric steering gear system. Taking a steering gear system including a gear reduction mechanism as an example, a variable parameter analysis is performed on the gear reduction mechanism's moment of inertia, analyzing the relationship between the gear reduction mechanism's moment of inertia and the steering gear system's overshoot in response to a 5° step signal.

[0191] Step 1: Based on the electromechanical coupling simulation model of the electric servo system established in the above embodiment, the servo command signal is set to a 5° step signal.

[0192] Step 2: Change the moment of inertia of the gear reduction mechanism and measure the control surface response of the servo system, such as Figure 17 As shown, Figure 17 This is a response curve of a 5° step signal of another servo system provided in an embodiment of the present application.

[0193] Step 3: Calculate the overshoot of the response and analyze the relationship between the control surface response and the proportional coefficient, such as Figure 18 As shown, Figure 18 This is a curve showing the change in the overshoot of a 5° step signal response of a servo system as a function of the rotational inertia of the gear reduction mechanism provided in an embodiment of the present application.

[0194] Step 4: From Figure 17 and Figure 18It can be seen from the figure that the overshoot of the 5° step signal response of the servo system increases with the increase of the rotational inertia of the gear reduction mechanism, forming a linear relationship.

[0195] In some embodiments, the present application further provides a method for analyzing the impact of nonlinearity of servo clearance based on an electromechanical coupling simulation modeling method of an electric servo system. Based on the above embodiment, the impact of the nonlinearity of the clearance of the fork-rocker mechanism on the resonant frequency of the servo system is analyzed.

[0196] Step 1: The electromechanical coupling simulation model of the electric servo system established in the above embodiment is used to set the servo command signal to 0° and apply a stepped sine sweep signal to the rudder surface.

[0197] Step 2: Change the gap between the fork and rocker arm mechanism and measure the resonant frequency of the servo system, such as Figure 19 As shown, Figure 19 This is a curve showing the change of the resonant frequency of a servo system with the fork clearance provided in an embodiment of the present application.

[0198] Step 3: From Figure 19 It can be seen from the figure that the resonant frequency of the servo system decreases with the increase of the gap between the fork and rocker arm mechanism. The nonlinearity of the gap will cause the resonant frequency of the servo system to decrease, that is, the stiffness softening phenomenon.

[0199] Figure 20 A schematic diagram of an electromechanical coupling simulation modeling device for an electric servo system provided in an embodiment of the present application is shown in FIG. Figure 20 As shown, the device includes: a division module 2001, a construction module 2002 and an integration module 2003, wherein:

[0200] The division module 2001 is used to divide the electric servo system into multiple sub-modules according to the functional structure of the electric servo system; the construction module 2002 is used to respectively construct the sub-simulation model corresponding to each sub-module; and the integration module 2003 is used to integrate the sub-simulation models into an electromechanical coupling simulation model of the electric servo system according to the input-output relationship of the sub-modules.

[0201] Based on the above embodiment, the submodule includes a servo drive module, a motor module and a transmission component module.

[0202] Based on the above embodiment, the sub-simulation model includes a dynamic simulation model; the construction module 2002 is specifically used to construct a sub-simulation model corresponding to the transmission component module, including: obtaining the moment of inertia, mass and connection stiffness of the transmission component module; and constructing a dynamic simulation model of the transmission component module based on the moment of inertia, mass and connection stiffness.

[0203] Based on the above embodiment, the dynamic simulation model includes a nonlinear dynamic simulation model; the transmission component module includes a reduction transmission mechanism; the construction module 2002 is specifically used to determine the nonlinear factors of the reduction transmission mechanism; and the nonlinear dynamic simulation model of the transmission component module is generated based on the nonlinear factors, moment of inertia, mass and connection stiffness.

[0204] Based on the above embodiment, the reduction transmission mechanism includes a gear reduction mechanism and a fork-rocker mechanism; the construction module 2002 is specifically used to obtain a first gap value of the gear reduction mechanism; obtain a second gap value of the fork-rocker mechanism; and determine the nonlinear factor of the reduction transmission mechanism based on the first gap value and the second gap value.

[0205] On the basis of the above embodiment, the reduction transmission mechanism also includes a ball screw reduction mechanism; the construction module 2002 is specifically used to: obtain the displacement stiffness of the ball screw reduction mechanism; obtain the torsional stiffness of the gear reduction mechanism and the fork-rocker arm mechanism; generate a nonlinear dynamic simulation model of the transmission component module based on nonlinear factors, moment of inertia, mass, displacement stiffness and torsional stiffness.

[0206] Based on the above embodiment, the transmission component module includes a rudder shaft-rudder surface; the construction module 2002 is specifically used to construct a sub-simulation model corresponding to the servo driver module, including: obtaining the command signal sent by the host computer and the feedback signal of the rudder shaft-rudder surface; and constructing a sub-simulation model of the servo driver module according to the command signal and the feedback signal.

[0207] Based on the above embodiment, the construction module 2002 is specifically used to construct a sub-simulation model corresponding to the motor module, including: obtaining the voltage value of the servo drive module and the reaction torque of the transmission component module; and constructing a sub-simulation model of the motor module according to the voltage value and the reaction torque.

[0208] Figure 21 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 21 As shown, the electronic device includes a processor 2101, a memory 2102, and a bus 2103. The processor 2101 and the memory 2102 communicate with each other via the bus 2103. The processor 2101 is configured to call program instructions in the memory 2102 to execute the methods provided in the above-mentioned method embodiments.

[0209] The processor 2101 can be an integrated circuit chip with signal processing capabilities. The above-mentioned processor 2101 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0210] The memory 2102 may include but is not limited to random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable read-only memory (EEPROM), etc.

[0211] This embodiment discloses a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can perform the methods provided by the above-mentioned method embodiments, for example, including: dividing the electric servo system into multiple sub-modules according to the functional structure of the electric servo system; constructing a sub-simulation model corresponding to each sub-module; and integrating the sub-simulation models into an electromechanical coupling simulation model of the electric servo system according to the input-output relationship of the sub-modules.

[0212] This embodiment provides a non-transitory computer-readable storage medium, which stores computer instructions. The computer instructions enable the computer to execute the methods provided by the above-mentioned method embodiments, for example, including: dividing the electric servo system into multiple sub-modules according to the functional structure of the electric servo system; constructing a sub-simulation model corresponding to each sub-module; and integrating the sub-simulation models into an electromechanical coupling simulation model of the electric servo system according to the input-output relationship of the sub-modules.

[0213] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0214] In addition, the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0215] Furthermore, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0216] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for electromechanical coupling simulation modeling of an electric servo system, characterized in that: The method comprises: The electric servo system is divided into a plurality of submodules according to its functional structure; the functional structure refers to the structure of the parts of the electric servo system that perform independent functions; the submodules include a transmission component module; Constructing a sub-simulation model corresponding to each of the sub-modules respectively; the sub-simulation model includes a dynamic simulation model; Integrating the sub-simulation models into an electromechanical coupling simulation model of an electric servo system according to the input-output relationship of the sub-modules; Constructing a sub-simulation model corresponding to the transmission component module, including: Obtaining the moment of inertia, mass, and connection stiffness of the transmission assembly module; Constructing a dynamic simulation model of the transmission component module according to the moment of inertia, the mass and the connection stiffness; The dynamic simulation model includes a nonlinear dynamic simulation model; the transmission component module includes a reduction transmission mechanism; the dynamic simulation model of the transmission component module is constructed according to the moment of inertia, the mass and the connection stiffness, including: determining a nonlinear factor of the reduction transmission mechanism; generating a nonlinear dynamics simulation model of the transmission component module according to the nonlinear factor, the moment of inertia, the mass, and the connection stiffness; The reduction transmission mechanism includes a gear reduction mechanism and a fork-rocker arm mechanism; the nonlinear factors determining the reduction transmission mechanism include: Obtaining a first clearance value of the gear reduction mechanism; Obtaining a second clearance value of the fork-rocker arm mechanism; determining a nonlinear factor of the reduction transmission mechanism according to the first gap value and the second gap value; The reduction transmission mechanism further includes a ball screw reduction mechanism; the connection stiffness includes torsional stiffness and displacement stiffness; and the nonlinear dynamic simulation model of the transmission component module is generated based on the nonlinear factor, the moment of inertia, the mass, and the connection stiffness, including: Obtaining the displacement stiffness of the ball screw reduction mechanism; Obtaining the torsional stiffness of the gear reduction mechanism and the shift fork-rocker arm mechanism; A nonlinear dynamics simulation model of the transmission component module is generated according to the nonlinear factor, the moment of inertia, the mass, the displacement stiffness and the torsional stiffness.

2. The method according to claim 1, characterized in that The submodule further includes a servo drive module and a motor module.

3. The method according to claim 2, characterized in that The transmission component module includes a rudder shaft-rudder surface; constructing a sub-simulation model corresponding to the servo drive module includes: Obtaining the command signal sent by the host computer and the feedback signal of the rudder shaft-rudder surface; A sub-simulation model of the servo drive module is constructed according to the command signal and the feedback signal.

4. The method according to claim 2, characterized in that Constructing a sub-simulation model corresponding to the motor module, including: Obtaining the voltage value of the servo driver module and the reaction torque of the transmission component module; A sub-simulation model of the motor module is constructed according to the voltage value and the reaction torque.

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