Key Technique Research On Redundant Actuation Of The Heavy Load Mechanisms

The current heavy equipments, such as flight simulator Movement system, are generally driven by hydraulic servo system and use the fuel tank as executing large servo device. These factors result in the huge equipment, manufacturing and maintenance costs, hydraulic oil leakage and pollution and other shortcomings.How to overcome the above drawbacks has been a difficult and a challenging issue. The main reason is that the average load of such equipment is generally larger. If we use a mechanical drive system as implementation unit, its service time is too low. Redundant actuation can use multiple drives to share the force. However, because the stiffness of the mechanical drive system is quite big, kinematic error would cause the instantaneous loads is not equal or even reverse, severely damaged service time. To avoid this problem, it requires the use of force feedback control. However, in heavy occasions, we must use the sensors that are capacity of good dynamic characteristics and strong load-bearing. Moreover, control algorithms become complex and nonlinear, resulting in the difficulty of the control and manufacturing costs substantially increased, the stability and robust of the control decreased.Against the problems, the paper adopted a redundantly actuated interface module with force self-evening, which uses dual-driven leadscrew parallel to share the force and better solved the problem. Specific studies on the contents are as follows:1. Study the mechanism composition and working principle of the interface module, design structure and analysis its advantages.2. Analysis the impact factors and calculation method of the force unevenness.3. Research on the efficiency, life and precision of the redundantly actuated interface module.4. Study the principle of the synchronous control and design fuzzy PID controller.5. Through examples, research performance of the redundantly actuated interface module.