Electromechanical Steering Drive Simulation Model for Small-Sized for Highly Maneuverable Flying Vehicle


DOI: 10.34759/trd-2020-111-14

Аuthors

Guskov A. A.1*, Spirin A. A.1**, Norinskaya I. V.2***

1. Arzamas Polytechnic Institute (branch) of the Alekseev Nizhny Novgorod State Technical University, 19, Kalinin str., Arzamas, Nizhny Novgorod Region, 607220, Russia
2. Company “Arzamas Research & Production Enterprise TEMP-AVIA”, 26, Kirov str., Arzamas, Nizhny Novgorod Region, 607220, Russia

*e-mail: guskov@apingtu.edu.ru
**e-mail: djalex844@yandex.ru
***e-mail: irina-cybryaeva@mail.ru

Abstract

The task of this work is mathematical and simulation modeling methods implementation at the stage of the design documentation development for electromechanical steering gear to determine its parameters and study characteristics.

Mathematical model of electromechanical steering gear with power stage, consisting of DC motor and reducing gear, representing a wave gear with wave generator was developed. A simulation model based on the electric drive functional diagram and differential equations, describing its operation, was developed in MATLAB Simulink. The study of the steering drive was performed with the developed simulation model. The values of static error of bringing the steering surface to the preset angle, and actuation time and steering speed at various set deflection angles and hinge moment value were obtained.

A prototype of the steering gear was developed and manufactured based on the conducted studies. Electric motor and reduction gear parameters of the steering gear prototype were determined based on the simulation results and refined while designing.

Experimental studies of a prototype steering gear were performed. The time dependences of the steering surface angle of rotation were obtained at various values of the angle being set and without steering surface loading.

Experimental study of the steering drive prototype confirmed its operability.

A comparative analysis of the simulation results and experimental data obtained from the steering gear prototype was performed. It was established that the simulation model reliably reproduces characteristics of the prototype of the object under study.

Thus, the developed mathematical model allows studying the electromechanical steering gear operation and obtain visual results of the system behavior at various conditions and operating modes.

Experimental studies of the created steering gear prototype demonstrated good convergence the simulation results and the experiment, which confirms the adequacy of the developed model.

Application of the developed simulation model while the electromechanical steering development allows saving time and overall cost of product by identifying problems and possible errors at the very beginning of the project, as well as reducing the development effort.

Keywords:

electromechanical steering gear, mathematical model, simulation

References

  1. Gerashchenko A.N., Postnikov V.A., Samsonovich S.L. Pnevmaticheskie, gidravlicheskie i elektricheskie privody letatel'nykh apparatov na osnove volnovykh ispolnitel'nykh mekhanizmov (Aircraft Pneumatic, Hydraulic and Electric Drives Based on Wave Actuators), Moscow, Izd-vo MAI-PRINT, 2010, 548 p.

  2. Konstantinov S.V., Khaletskii L.V., Steblinkin A.I., Parshin A.A. Polet, 2012, no. 10, pp. 21 - 29.

  3. Kuznetsov I.P., Parshin A.A., Khaletskii L.V., Shitov V.Yu. Trudy MAI, 2014, no. 73, available at: http://trudymai.ru/eng/published.php?ID=48472

  4. Krylov N.V., Lalabekov V.I., Ogol'tsov I.I. et al. Elektromekhanicheskie silovye mini-privody dlya “bolee elektrifitsirovannogo” samoleta (Electromechanical power mini-drives for “more electrified” aircraft), Moscow, Izd-vo MAI, 2016, 360 p.

  5. Levin A.V., Samsonovich S.L., Stepanov V.S., Borisov M.V., Krylov N.V. Aviatsionnaya promyshlennost', 2013, no. 3, pp. 8 – 13.

  6. Levin A.V. et al. Elektricheskii samolet: ot idei do realizatsii (Electric aircraft: from idea to implementation), Moscow, Mashinostroenie, 2010, 288 p.

  7. Stepanichev D.I. Trudy MAI, 2012, no. 62, available at: http://trudymai.ru/eng/published.php?ID=35561

  8. Borisov M.V., Samsonovich S.L. Trudy MAI, 2012, no. 62, available at: http://trudymai.ru/eng/published.php?ID=35537

  9. Tarabarin V.B., Tarabarina Z.I. Izvestiya vuzov. Mashinostroenie, 2017, no. 9 (690), pp. 3 - 11.

  10. Nosov A.S. Vestnik Samarskogo universiteta. Aerokosmicheskaya tekhnika, tekhnologii i mashinostroenie, 2017, vol. 16, no. 2, pp. 81 - 89.

  11. Spirin A.A. XXIV Tupolevskie chteniya (shkola molodykh uchenykh): Mezhdunarodnaya molodezhnaya nauchnaya konferentsiya, Kazan', Izd-vo IP Sagieva A.R., 2019, vol. 1, pp. 325 - 330.

  12. J. Yang, D. Liang, D. Yu and T. Y. F. Lang. System identification and sliding mode control design for electromechanical actuator with harmonic gear drive, 2016 Chinese Control and Decision Conference (CCDC), Yinchuan, 2016, pp. 5641 - 5645. DOI:10.1109/CCDC.2016.7532007

  13. Timofeev G.A., Kostikov Yu.V., Podchasov E.O. Izvestiya vysshikh uchebnykh zavedenii. Mashinostroenie, 2018, no. 5, pp. 36 – 43.

  14. Timofeev G.A., Kuzenkov V.V. Problemy mashinostroeniya i nadezhnosti mashin, 2015, no. 6, pp. 34 - 41.

  15. Strogalev V.P., Tolkacheva I.O. Imitatsionnoe modelirovanie (Simulation modeling: tutorial), Moscow, Izd-vo MGTU im. N.E. Baumana, 2015, 295 p.

  16. Stebletsov V.G. et al. Modelirovanie i osnovy avtomatizirovannogo proektirovaniya privodov (Modeling and fundamentals of drives computer aided design), Moscow, Mashinostroenie, 1989, 223 p.

  17. Dhaouadi R., Ghorbel F.H. Modelling and Analysis of Nonlinear Stiffness, Hysteresis and Friction in Harmonic Drive Gear, International Journal of Modelling and Simulation, 2008, vol. 28, issue 3, pp. 329 – 336.

  18. D. Li, C. Wang and H. Deng. Parametric analysis for the reliable operations of electromechanical actuators, 8th International Conference on Modelling, Identification and Control (ICMIC), Algiers, 2016, pp. 444 - 448.

  19. Bilyaletdinova L.R., Steblinkin A.I. Aerospace MAI Journal, 2017, vol. 24, no. 3, pp. 95 - 108.

  20. Bliznova T.B., Obolenskii Yu.G., Polkovnikov V.A. Trudy MAI, 2012, no. 61, available at: http://trudymai.ru/eng/published.php?ID=35650

  21. Larin A.P., Polkovnikov V.A. Matematicheskoe modelirovanie, 2000, vol. 12, no. 8, pp. 21 – 29.

  22. Ponyatskii V.M., Fimushkin V.S., Kushnikov D.V., Fedorishcheva V.G., Petrushin A.V., Shidlovskii D.Yu. Trudy MAI, 2012, no. 62, available at: http://trudymai.ru/eng/published.php?ID=35512

  23. Turkin I.K., Kondrashev G.V. Trudy MAI, 2014, no. 78, available at: http://trudymai.ru/eng/published.php?ID=53519

  24. Besekerskii V.A., Fabrikant E.A. Dinamicheskii sintez sistem giroskopicheskoi stabilizatsii (Dynamic synthesis of gyroscopic stabilization systems), Leningrad, Sudostroenie, 1968, 351 p.

  25. Hareesh Y.S., Varghese J. Design and Analysis of Flex Spline with Involute Teeth Profile for Harmonic Drive Mechanism, International Journal of Engineering Research & Technology, 2015, vol. 4, issue 12, pp. 613 – 618. DOI:10.17577/ijertv4is120629

  26. Patel D.M., Jivani R.G., Pandya V.A. Harmonic Drive Design & Application: A Review, Global Research and Development Journal for Engineering, 2015, vol. 1, isssue 1, pp. 34 – 37.


Download

mai.ru — informational site MAI

Copyright © 2000-2021 by MAI

Вход