设计了一种基于双闭环控制的超声波电动舵机,根据速度反馈元件的不同设计了两种速度环方案,一种是基于正交编码器的速度环方案,另一种是基于旋转电位计的速度环方案。样机空载实验结果表明,基于两种速度环方案下的超声波电动舵机系统都具有较高的位置跟随频响和精度,带宽分别达到62Hz和51Hz,静态误差分别为0.022°和0.082°。

Designed an ultrasonic electromechanical-actuator based on the double loop control strategy. And then designed two speed-loop scheme, according to the different speed-feedback components. One was based on orthogonal encoder, and the othor was based on the rotating potentiometer. The no-load test of prototype has shown that the system of ultrasonic electromechanical actuator designed by two speed loop schemes both have higher position control accuracy and frequency response Bandwidth to 62Hz and 51Hz respectively, static error was 0.022° and 0.082° respectively.