关键词: 舵机, 摩擦, 间隙, 非线性

Abstract: Nonlinear factors such as friction and clearance have definite influences on mechanical properties of electric actuator structure. To investigate the impact of nonlinearity on actuator control, typical nonlinear characteristics existing in the transmission device are introduced. A new transmission device is designed, which has low friction and controllable clearance. Experiment and simulation results show that the new transmission device has better performances in friction and clearance condition compared with general transmission structure. With new transmission device, both control accuracy and stability of actuator are achieved, which can provide basis for the analysis of structure properties and the research of control system.

Key words: actuator structure, friction, clearance, nonlinear