Research On A Minitype Electromechanical Rudder Actuation System With Low Cost And High Resolution

Electromechanical Rudder Actuation Systems(ERAS)are widely used in Unmanned Aerial Vehicles(UAV),missiles,etc.Nowadays,the miniaturization and low cost have been an inevitable trend,while the ability to track small signals is also a difficult and hot point.A minitype multistage straight gear reducer with low cost was designed,having benefits such as high integration,simple structure and lower cost than harmonic,planetary gear,and ball screwreducers in some specific applications.The volume and cost decrease by 30% than its planetary predecessor,the gap from foreign products narrowed.The mathematical model was derived,and a control algorithm of “piecewise PID plus dead zone compensation” to improve small signal(1o,0.02Hz)tracking performance was designed.Simulation and experiments were conducted.It shows that,all performances met the design requirements,and compared with the other control algorithms like conventional PID,“piecewise PID plus dead zone compensation” can improve small signal tracking performances efficiently as such that the average absolute value of errors was reduced from 0.0788oto 0.0670o,accuracy increased by 15.5%.