Journal of Jilin University(Engineering and Technology Edition) ›› 2024, Vol. 54 ›› Issue (5): 1196-1204.doi: 10.13229/j.cnki.jdxbgxb.20220757

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A new electric servo actuator based on energy recovery and its dynamic energy consumption analysis

Qian LIU1(),Zhu-xin ZHANG2(),Ding-xuan ZHAO1,Li-xin WANG1,Ya-fei WANG3   

  1. 1.School of Mechanical Engineering，Yanshan University，Qinhuangdao 066000，China
    2.School of Vehicle and Energy，Yanshan University，Qinhuangdao 066000，China
    3.Systems Engineering Research Institute，China State Shipbuilding Corporation Limited，Beijing 100094，China
  • Received:2022-06-18 Online:2024-05-01 Published:2024-06-11
  • Contact: Zhu-xin ZHANG E-mail:lq_ysu@stumail.ysu.edu.cn;zhzhxn@ysu.edu.cn

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Abstract:

Aiming at the problem that the load potential energy is wasted in the load falling stage of the existing electric servo actuator， this paper proposes a new electric servo actuator implementation scheme based on energy recovery. The project uses an accumulator parallel to the transmission system to recover the potential energy dissipated during the load falling stage and provide extra thrust during the load lifting stage. Combined with the theory of power bond graph， a dynamic energy consumption analysis method of mechanical system in complex energy domain is introduced. The dynamic energy consumption model is established， and the comparison simulation test is carried out. The simulation results show that the response time can be reduced by 36.9%， and the motor starting torque can be reduced by 43.3%. When lifting the load， the energy consumption is reduced by about 31%， and 36% of potential energy can be recovered. In the working process， the bearing capacity of the ball screw pair is significantly reduced， which is helpful to reduce friction heat and prolong the service life of the screw.

Key words: mechatronics engineering, electric servo actuator, energy recovery, accumulator, power bond graph, dynamic energy consumption analysis

CLC Number: 

  • TP242.2

Fig.1

Structural schematic diagram"

Table 1

Parameters of the key structures"

结构参数数值/型号单位结构参数数值/型号单位
负载质量600kg丝杠导程10mm
电机功率3kW丝杠外径40mm
最大转矩14N·m丝杠惯量8.63e-4kg?m2
缸杆外径80mm联轴器型号C68—
缸杆质量18.46kg联轴器惯量7.18e-4kg?m2

Fig.2

Working principle diagram"

Fig.3

Energy consumption analysis diagram of thetransmission system"

Fig.4

Power bond graph of the transmission system"

Fig.5

Mathematical model of the motor"

Fig.6

Principle model of the accumulator"

Fig.7

Schematic diagram of the simulation system"

Table 2

Parameters of the servo motor and controller"

电机参数数值单位控制器参数数值
最大速度6000r/minKp2000
最大转矩14N·mTi0.8
转子惯量0.04kg·m2Ta0.8

Table 3

Parameters of the power bond graph"

元器件名称符号物理意义数值单位
联轴器C2刚度系数6.7e-5rad/（N·m）
I4转动惯量7.18e-4kg·m2
丝杠C6刚度系数7.8e-9rad/（N·m）
I8转动惯量8.63e-4kg·m2
R9转动阻尼6.3e-4N·m·s
丝杠-螺母TF1转动变为平动628m-1
油腔-螺母TF2流动变为平动22.61e-3m2
液压油C14弹性系数6.53e-13m3/Pa
管路R16流动阻尼1.81e6Pa·s/m3
节流阀R18流动阻尼8.76e7Pa·s/m3
缸杆I21质量18.46kg
Se22重力-180.91N
R23摩擦阻力12N
负载I25质量600kg
Se26重力-5880N

Fig.8

Velocity response curves of the load"

Fig.9

Start torques curve of the motor"

Fig.10

Dynamic curves of the new electric servo actuator"

Fig.11

Output thrust curves of the ball screw pair"

Fig.12

Energy curves of the conventional electric servo actuator"

Fig.13

Energy curves of the new electric servo actuator"

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