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Article(id=1253994381934006720, tenantId=1146029695717560320, journalId=1251234571887362144, issueId=1253994374069682477, articleNumber=null, orderNo=null, doi=10.20249/j.cnki.2096-5974.2025.05.012, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=null, receivedDateStr=null, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1776905158742, onlineDateStr=2026-04-23, pubDate=null, pubDateStr=null, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1776905158742, onlineIssueDateStr=2026-04-23, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1776905158742, creator=13041195026, updateTime=1776905158742, updator=13041195026, issue=Issue{id=1253994374069682477, tenantId=1146029695717560320, journalId=1251234571887362144, year='2025', volume='8', issue='5', pageStart='1', pageEnd='114', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=null, createTime=1776905156856, creator=13041195026, updateTime=1777355348378, updator=13041195026, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1255882614297248384, tenantId=1146029695717560320, journalId=1251234571887362144, issueId=1253994374069682477, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1255882614301442689, tenantId=1146029695717560320, journalId=1251234571887362144, issueId=1253994374069682477, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=107, endPage=114, ext={EN=ArticleExt(id=1253994382965805509, articleId=1253994381934006720, tenantId=1146029695717560320, journalId=1251234571887362144, language=EN, title=Output Force Density Optimization of Modular Hybrid Actuator, columnId=1253994382605095362, journalTitle=Flight Control & Detection, columnName=Inertial and Servo Technology, runingTitle=null, highlight=null, articleAbstract=

To meet the requirements of the space load platform's vibration depression,a novel modularized active-passive hybrid actuator is developed. First,a general structure with a passive hydraulic damping module,a voice coil motor module and a displacement measurement module in serial is proposed. Second,the influence of damping hole structure parameters on the damping coefficients and force transform of the damping module are analyzed. Then,the simulation is carried out using finite element analysis software to optimize the voice motor's structure parameters for enlarging the output force density and force stability. Finally,the output force is tested to verify the effectiveness of the design. The experimental results indicate that the actuator can achieve smooth force output throughout its full stroke,with an output density of 3.87×10-4 N/mm3.

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针对空间载荷平台上的振动抑制需求，研制了一种新型模块化的液电混合作动器。首先，提出了液压阻尼模块、音圈电机模块和测量模块串联的混合作动器的总体结构；其次，分析了液压阻尼模块在细长孔中的阻尼变化影响因素及其力变换关系；再次，以出力密度为优化目标，采用电磁有限元分析软件进行了优化仿真分析，优化了音圈电机模块的结构参数；最后，进行了出力和出力平稳性测试。结果表明，该作动器能够在作动器全行程内实现平稳的力输出，出力密度达到3.87×10-4 N/mm3。

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通信作者简介：王坤东，男，副教授，博士生导师。
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周彬，男，博士生。

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周彬，男，博士生。

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year=2019, volume=13, issue=10, pageStart=1574, pageEnd=1579, url=null, language=null, rfNumber=[15], rfOrder=19, authorNames=LUO C Y, LIN Z L, SUN J, journalName=IET Electric Power Applications, refType=null, unstructuredReference=LUO C Y,LIN Z L,SUN J.Design of linear voice coil motor with semi-closed structure[J].IET Electric Power Applications,2019,13(10):1574-1579., articleTitle=Design of linear voice coil motor with semi-closed structure, refAbstract=null)], funds=null, companyList=[AuthorCompany(id=1253994393287987714, tenantId=1146029695717560320, journalId=1251234571887362144, articleId=1253994381934006720, xref=1, ext=[AuthorCompanyExt(id=1253994393367679491, tenantId=1146029695717560320, journalId=1251234571887362144, articleId=1253994381934006720, companyId=1253994393287987714, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=1School of Electronics Information and Electrics Engineering, Shanghai Jiao Tong 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figureFileBig=JgwFmu7QHoypBjPzedRWeQ==, tableContent=null), ArticleFig(id=1253994404876849828, tenantId=1146029695717560320, journalId=1251234571887362144, articleId=1253994381934006720, language=EN, label=Tab.1, caption=

Influence of coil with different diameter d1

, figureFileSmall=null, figureFileBig=null, tableContent=
线圈直径d1/mm线圈允许的最大电流I/A音圈电机输出力f/N作动器输出力F/N
0.150.4536.71112.42
0.200.6933.79103.48
0.250.9728.3286.73
0.301.2725.8879.26
), ArticleFig(id=1253994405036233386, tenantId=1146029695717560320, journalId=1251234571887362144, articleId=1253994381934006720, language=CN, label=表1, caption=

不同直径d1 的线圈的影响

, figureFileSmall=null, figureFileBig=null, tableContent=
线圈直径d1/mm线圈允许的最大电流I/A音圈电机输出力f/N作动器输出力F/N
0.150.4536.71112.42
0.200.6933.79103.48
0.250.9728.3286.73
0.301.2725.8879.26
), ArticleFig(id=1253994405183034030, tenantId=1146029695717560320, journalId=1251234571887362144, articleId=1253994381934006720, language=EN, label=Tab.2, caption=

Simulation of the influence of coil up and down displacement S on output forcef

, figureFileSmall=null, figureFileBig=null, tableContent=
I/AS/mm-2-1.5-1-0.500.511.52
0.35f/N17.5417.3617.3017.3416.9216.4516.2515.5515.44
0.5226.4526.1526.1026.0225.3624.7324.2723.1922.74
0.6935.5135.0534.9634.7233.7932.9732.2130.7129.89
), ArticleFig(id=1253994405296280240, tenantId=1146029695717560320, journalId=1251234571887362144, articleId=1253994381934006720, language=CN, label=表2, caption=

线圈位移S对输出力f影响的有限元仿真

, figureFileSmall=null, figureFileBig=null, tableContent=
I/AS/mm-2-1.5-1-0.500.511.52
0.35f/N17.5417.3617.3017.3416.9216.4516.2515.5515.44
0.5226.4526.1526.1026.0225.3624.7324.2723.1922.74
0.6935.5135.0534.9634.7233.7932.9732.2130.7129.89
), ArticleFig(id=1253994405438886579, tenantId=1146029695717560320, journalId=1251234571887362144, articleId=1253994381934006720, language=EN, label=Tab.3, caption=

Measurement of the influence of coil up and down displacement S on output force f

, figureFileSmall=null, figureFileBig=null, tableContent=
I/AS/mm-2-1.5-1-0.500.511.52
0.35f/N17.4717.3217.2917.4116.9016.4916.1115.5315.38
0.5226.2926.2026.1326.0225.2224.8424.3023.1622.74
0.6935.4734.8234.9234.6133.6632.8132.1430.4430.02
), ArticleFig(id=1253994405564715703, tenantId=1146029695717560320, journalId=1251234571887362144, articleId=1253994381934006720, language=CN, label=表3, caption=

线圈上下位移S对输出力f影响的测量

, figureFileSmall=null, figureFileBig=null, tableContent=
I/AS/mm-2-1.5-1-0.500.511.52
0.35f/N17.4717.3217.2917.4116.9016.4916.1115.5315.38
0.5226.2926.2026.1326.0225.2224.8424.3023.1622.74
0.6935.4734.8234.9234.6133.6632.8132.1430.4430.02
), ArticleFig(id=1253994405682156219, tenantId=1146029695717560320, journalId=1251234571887362144, articleId=1253994381934006720, language=EN, label=Tab.4, caption=

Comparison of different types of voice coil motors

, figureFileSmall=null, figureFileBig=null, tableContent=
音圈电机结构首端齐平式电机[13]线圈前移式电机[14]优化的线圈前移式电机[15]音圈电机（本文）
输出力f/N33.2245.4057.4733.31
体积V/mm316788516788516788586080
平稳性Δf/%33.7811.449.498.42
出力密度ρf/（N·mm-3 ）1.98×10-42.71×10-43.40×10-43.87×10-4
), ArticleFig(id=1253994405782819521, tenantId=1146029695717560320, journalId=1251234571887362144, articleId=1253994381934006720, language=CN, label=表4, caption=

不同类型音圈电机对比表

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音圈电机结构首端齐平式电机[13]线圈前移式电机[14]优化的线圈前移式电机[15]音圈电机（本文）
输出力f/N33.2245.4057.4733.31
体积V/mm316788516788516788586080
平稳性Δf/%33.7811.449.498.42
出力密度ρf/（N·mm-3 ）1.98×10-42.71×10-43.40×10-43.87×10-4
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模块化液电混合作动器的出力密度优化
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周彬 1, 2 , 周涵巍 1 , 操宏磊 3 , 谭思远 1 , 朱庆华 3 , 王坤东 1
飞控与探测 | 惯性与伺服技术 2025,8(5): 107-114
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飞控与探测 | 惯性与伺服技术 2025, 8(5): 107-114
模块化液电混合作动器的出力密度优化
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周彬1, 2, 周涵巍1, 操宏磊3, 谭思远1, 朱庆华3, 王坤东1
作者信息
  • 1上海交通大学 电子信息与电气工程学院·上海·200240
  • 2上海航天技术研究院·上海·201109
  • 3上海航天控制技术研究所·上海·201109

    • 周彬，男，博士生。

通讯作者:

通信作者简介：王坤东，男，副教授，博士生导师。
Output Force Density Optimization of Modular Hybrid Actuator
Bin ZHOU1, 2, Hanwei ZHOU1, Honglei CAO3, Siyuan TAN1, Qinghua ZHU3, Kundong WANG1
Affiliations
  • 1School of Electronics Information and Electrics Engineering, Shanghai Jiao Tong University, Shanghai 200240
  • 2Shanghai Academy of Spaceflight Technology, Shanghai 201109
  • 3Shanghai Aerospace Control Technology Institute, Shanghai 201109
doi: 10.20249/j.cnki.2096-5974.2025.05.012
文章导航
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摘要
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针对空间载荷平台上的振动抑制需求，研制了一种新型模块化的液电混合作动器。首先，提出了液压阻尼模块、音圈电机模块和测量模块串联的混合作动器的总体结构；其次，分析了液压阻尼模块在细长孔中的阻尼变化影响因素及其力变换关系；再次，以出力密度为优化目标，采用电磁有限元分析软件进行了优化仿真分析，优化了音圈电机模块的结构参数；最后，进行了出力和出力平稳性测试。结果表明，该作动器能够在作动器全行程内实现平稳的力输出，出力密度达到3.87×10-4 N/mm3。

液电混合作动器  /  模块化  /  出力密度  /  平稳性

To meet the requirements of the space load platform's vibration depression,a novel modularized active-passive hybrid actuator is developed. First,a general structure with a passive hydraulic damping module,a voice coil motor module and a displacement measurement module in serial is proposed. Second,the influence of damping hole structure parameters on the damping coefficients and force transform of the damping module are analyzed. Then,the simulation is carried out using finite element analysis software to optimize the voice motor's structure parameters for enlarging the output force density and force stability. Finally,the output force is tested to verify the effectiveness of the design. The experimental results indicate that the actuator can achieve smooth force output throughout its full stroke,with an output density of 3.87×10-4 N/mm3.

hybrid hydraulic actuator  /  modularization  /  output force density  /  stability
周彬, 周涵巍, 操宏磊, 谭思远, 朱庆华, 王坤东. 模块化液电混合作动器的出力密度优化. 飞控与探测, 2025 , 8 (5) : 107 -114 . DOI: 10.20249/j.cnki.2096-5974.2025.05.012
Bin ZHOU, Hanwei ZHOU, Honglei CAO, Siyuan TAN, Qinghua ZHU, Kundong WANG. Output Force Density Optimization of Modular Hybrid Actuator[J]. Flight Control & Detection, 2025 , 8 (5) : 107 -114 . DOI: 10.20249/j.cnki.2096-5974.2025.05.012
正文
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0　引言
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在航天领域中，空间挠性结构等柔性附件摩擦啮合、飞轮及控制力矩陀螺（Control Moment Gyros，CMG）不平衡、扫描机构和步进电机运行等引发的振动从0.1～2000Hz不等，具有宽频、随机等特点，严重影响和制约了载荷精度的提升，因此振动抑制对稳定载荷平台、保持高精度来讲至关重要。振动抑制主要分为被动隔振、主动隔振与主被动结合隔振3种方法，根据振源频率的不同，需要选择不同的抗振方式，而主被动结合隔振可兼顾主动隔振与被动隔振的优点，现在被广泛地应用在航天、船舶、工业等众多领域[1-2]。
20世纪末，主被动结合抗振的结构就被不断提出、更新和优化。MIT与Honeywell公司开发出了一种可调阻尼器D-strut，其调整峰值阻尼频率在0.1～10Hz之间，通过阻尼孔参数实现频率调节，为后续研究提供了一种思路[3]。Kim等[4]完成了一种新型六自由度振动隔离系统的设计、建模、优化和验证，该系统的独特之处在于它的音圈电机执行器使用了Halbach磁铁阵列来产生高出力常数，单位体积的出力大小成为评估音圈电机的一个重要指标。后续，多位学者将阻尼器和音圈结合起来进行振动抑制带宽和振动抑制比的扩展。其中，Zhang等[5]提出了一种基于麦克斯韦法向应力的新型磁负刚度隔振器，以改善具有高静支承刚度系统的低频隔振性能。冯骁等[6]通过数学仿真和全物理仿真实验对设计的控制系统在主动振动抑制和位置控制任务中的有效性进行了验证。Vermav等[7]提出了一种基于Stewart平台结构的多自由度隔离系统，用于机载相机的稳定。以上研究，都为主被动减振隔离系统的研制提供了参考。此外，也有一些学者在探索高效率的音圈作动器。Ito等[8]通过对两种紧凑型精密压电和电磁驱动器的对比实验，验证了电磁驱动器的优越性。吴昊[9]设计和制作了一款动磁式音圈电机，并对电机结构的关键参数进行了参数化扫描计算。另外，也有学者以提升驱动能力为目标，进行了多种新型音圈电机的设计和优化[10-12]。以上研究说明，在减振领域音圈电机仍然被广泛使用，但是由于出力密度、带宽、体积等多种因素的限制，相关产品仅仅停留在试制阶段，未见应用。因此，更大的音圈电机驱动力、更宽的减振频带、更低的转折频率以及更大的支撑刚度是未来的研究目标。
由于当前的隔振装置仍然不能满足航天领域内的需求，本研究针对在一定体积内实现更大、线性且均匀的推力进行优化，采用电磁音圈驱动与液体阻尼的混合作动技术，主要由液压阻尼模块、电机驱动模块以及精准位置反馈控制模块串联起来，得到一体化主被动减振作动器。
1　结构设计
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所设计的一体化主被动振动抑制液电混合作动器如图1所示，由液压阻尼模块、音圈电机模块和测量模块串行连接。液压阻尼模块具有被动减振功能，其阻尼力来自于液体在连通腔体之间的阻尼孔内流动时产生的阻力，如图1中箭头所示。音圈电机模块的动圈可以拉压液压阻尼模块右侧波纹管，并将推拉力经由连通器传递到左侧端盖。测量模块用于测量动圈的位置，进行位置伺服控制的位移反馈。
1.1　弹簧与液压阻尼器设计
液压阻尼模块主要用于抑制高频振动，属于被动减振，其结构如图2（a）所示。采用双波纹管连接，液体由充油孔充入，填充在被动侧波纹管和主动侧波纹管的空腔内，液体通过阻尼板上的细孔连通两个空腔，发挥被动抑制振动作用。主动波纹管和被动波纹管与各自端盖焊接，两端盖间安装具有阻尼孔的阻尼板，阻尼板与短管之间采用4个O型圈进行密封，注液口通过密封球在顶丝的紧压之下密封。阻尼孔有高频液体流动时，会产生摩擦热，这部分热量通过金属材质的阻尼板、波纹管和端盖传导到上、下保护桶上降温。作动器一般工作在微颤阵的场合下，因此热量产生和传导可以达到平衡，如果超限则需要考虑热设计。液压阻尼模块阻尼系数C与联通孔的数量、长度、直径和分布有关。液压阻尼孔的直径小于通孔长度一个数量级，可以认为该孔为细长孔，细长孔的阻尼系数一般可以用下式进行表示
其中，μ为液体介质的动力学黏度，L为阻尼孔长度，m为阻尼孔的个数，α为阻尼指数（牛顿流体是α=1)，R为孔的半径，An为流体腔的等效截面积。由该公式可以看出，当阻尼指数一定时，C与R3α+1成反比。实际工程中，一般阻尼指数α（0.22～0.50）取0.3，则C正比于1.9，当阻尼孔径缩小一半时，C值即增大3.73倍。因此调节阻尼孔的大小将可以起到控制阻尼系数的增大的作用。取L=0.02m，m=6，内部腔体流体采用硅油，其动力黏度为运动黏度与密度的乘积，为μ=10-3 Pa·s，如果考虑流体由腔体1流向腔体2，则An为流体腔1的等效流动面积，α取0.3，则阻尼孔半径R在0.75～0.1mm之间变化时，其阻尼系数与孔半径变化如图2（b）所示。通过这些参数的设计调节，可以得到预期的频率响应特性。另外，液压阻尼模块本身是一个连通器，根据帕斯卡原理，右侧音圈电机的输出力f经过连通器后，按照面积比系数进行缩增得到作动器输出力F，即
其中，D为左侧波纹管有效直径，d为右侧波纹管有效直径，f表示音圈电机的输出力。可以看出液压阻尼模块还兼具调整输出力的作用。
1.2　音圈电机及测量模块设计
主动作动部分采用音圈电机，作为一种直接驱动方式，用于抑制低频振动，具有运动精确度高、响应速度快等特点。音圈电机与液压部分独立，采用螺栓连接，无液体，因此不用考虑密封。音圈电机设计时，出力密度定义为最大输出力与电机本体体积的比值，是重要的性能指标之一。最优的出力密度在输出一定作动力时，具有较小的作动器体积和质量，满足空间应用中对体积和质量的严苛要求。另外，要求作动力在音圈整个运动行程内输出稳定，与位置无关，即要求输出力在整个行程上的平稳度。本文所提出的音圈电机具体结构如图3所示，采用关于中心轴旋转对称的双音圈结构，线圈分布在内外上下的4个气隙内，电机内部从左到右依次排列下磁铁、中磁铁和上磁铁，磁场方向为NS-SN-NS，其中上磁铁的作用是使得中磁铁向上的磁力线得到补充，其磁路经导磁体、上气隙、导磁体、空气、导磁体回到永磁体。这种设计在上气隙中增加了磁力线，弥补了上气隙磁通密度弱和不均匀的问题。后续可以通过对音圈电机的磁铁宽度、上中下磁铁的高度分配、支架高度、线圈绕组匝数和线圈直径等综合调配，来实现在宽带宽下的最大出力以及力输出的平稳度。
位置测量模块主要提供精确测量和高响应速度的位置反馈，用于对音圈电机的伺服控制，主要采用电涡流位移传感器和压电式力传感器。在涡流探头选择时，需要考虑音圈电机的电磁影响，因此选择屏蔽探头。
2　作动器结构的仿真优化
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本次仿真是使用电磁学有限元仿真软件，对音圈电机进行建模分析，仿真是以寻求最大输出力并且保证输出力均匀性的情况下，对作动器进行结构设计以及漆包线最佳直径的选择。根据音圈电机的3D设计模型的圆周对称性，在软件中进行RZ平面内的二维建模。
其中：B1，B2，B3，B4表示内上、内下、外上、外下气隙的磁通密度；l1，l2，l3，l4表示内上、内下、外上、外下线圈的单层绕线长度，内上与内下线圈、外上与外下线圈的单层长度近似相同；N1，N2表示上线圈和下线圈的匝数，上下线圈的内外所缠绕的匝数相同，I1，I2表示内外气隙绕组的驱动电流。能够看到，音圈电机产生的最大输出力受磁通密度和内外线圈所流过的电流有关，而最大电流受线圈导线直径、散热条件等限制。后文将重点对磁通密度和线圈所流过的最大电流进行分析，另外还将分析音圈电机在行程不同位置对输出力的影响。因线圈缠绕导致单匝变厚引起的周长变化很微小，计算时可以忽略不计。将式（3）代入式（2）得到
由式（4）可以发现，作动器输出力与阻尼器主被动腔体直径比相关，还和磁气隙磁通密度、线圈匝数、单层绕线长度、电流等因素有关，这4种因素之间互相影响。例如，为了增大输出力，增加线圈匝数，需要较大的空气隙，则磁通密度会减小；为了提高单层匝数，使用较细的漆包线，会导致额定电流下降。另外，绕组在运动时，在不同的磁气隙位置，磁通密度如果有差别，则会导致输出力随位置变化而变化，这给伺服控制带来严重的非线性干扰。因此，在限定作动器直径和长度设计约束下，为了提供作动器输出力密度，需要提高输出力。为此，需要对影响输出力的磁通密度和结构参数进行优化设计，结合有限元仿真分析，保证在运动范围内输出力的平稳性。
2.1　磁通密度的仿真优化
图3的音圈电机结构中，上磁铁的磁力线几乎全部通过上气隙，而中磁铁的磁力线分成两路，分别经过下气隙和上气隙，上中磁铁外形尺寸一致，必然导致下气隙的磁通密度要小于上气隙。考虑到导磁体的高度，磁力线在远离磁铁时会变少，因此增加下磁铁来进行补偿。在内外径一定的情况下，磁铁的高度决定磁力线补偿的多少。这里设置上磁铁高度为中下磁铁高度乘以一个小于1的系数，根据磁路磁阻大致推算在0.5～0.7之间，然后采用有限元软件进行仿真计算，高度系数为0.625时，可以得到最为均匀的磁力线分布，如图4（a）所示。气隙中，内线圈界面中心线的磁通密度为0.225T，外线圈界面中心线的磁通密度为0.242T，外线圈与内线圈的磁通密度在运动行程上均匀性优于5%，如图4（b）所示。
2.2　不同线径的音圈绕组对输出力的影响
对于固定线圈截面和处于固定的磁通密度的磁气隙中的音圈绕组，输出力取决于绕组导线的匝数和最大耐受电流，这些因素直接和导线的直径相关。直径越小，则匝数越多，但是耐受电流会降低，因此需要确定最优导线线径。一般地，漆包线允许通过最大电流公式为
其中，I表示线圈流过的额定电流，T表示漆包线耐热温度，θ表示周围温度，d1表示漆包线直径。根据式（5)，在50℃环境下，常用漆包线的直径d1为0.15mm，0.20mm，0.25mm和0.30mm时，线圈的填充系数设为80%。在作动器的结构设计中，已知D/d=1.75，根据式（1)，作动器输出力F为音圈电机输出力f的3.0625倍。漆包线额定电流I、电机输出的电磁力f和输出力F的仿真结果如表1所示。
可以看到，随着漆包线直径的上升，虽然漆包线能够通过更大的电流来提高电磁力，但气隙的宽度不变，漆包线的匝数变少，造成电磁力的减小。然而，在选择最合适的漆包线直径时，还需要考虑通电后线圈的发热功率，故而需要在满足最大输出力超过一定值时（这里设定需求为100N），尽可能地降低线圈的热功率，通过简单计算可以得到图5（a）最大热功率与漆包线直径的关系曲线，以此来选择最合适的漆包线直径d。可以发现线圈的最大热功率P随漆包线的直径d1变大而变小，同时图5（b）表明只有直径为0.15mm和0.20mm两种漆包线的输出力超过100N，而直径0.20mm漆包线产生的热功率明显大于直径0.15mm的漆包线，因此选择直径0.20mm的漆包线。
2.3　线圈的上下位移对输出力的影响
在对音圈电机通电之后，通电线圈会在磁场内受到电磁力作用而上下运动，为了确保电机输出力的稳定，需要分析运动中线圈位移在不同位置的输出力f是否相对稳定。设定自然状态下线圈位置为零位，线圈的上下最大位移为±2mm，使用电磁有限元分析软件，对线圈位移S从-2mm到+2mm，间隔0.5mm，分别取电流为0.35A，0.52A和0.69A，做组合参数化扫描，得到音圈电机的最大输出力f与线圈位移S的关系如表2。
通过对音圈电机的最大输出力f与线圈位移S的数据收集，能够看到线圈位移S从-2mm到+2mm这一段，最大输出力的平均值为33.31N，最大波动幅度在±8.6%，平稳性较好。
3　作动器最大出力的测试
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3.1　样机研制
根据上文对作动器最大输出力F的仿真，设计并确定了作动器的结构，机加工出的样机的部件装配完成后如图6所示，样机的长度为140mm，直径为40mm，有效输出位移为-2～+2mm，金属波纹管内腔内充硅油。在之后的测试试验中，用高精度游标卡尺作为横向位移标度，对样机进行定位。
3.2　结果分析
振动测试的准备工作中，将作动器被测面与电子测力计（艾固电子，型号ZP-200）同轴相连，并将二者都固定在水平抗振平台上，使用电压源对音圈电机通电，根据表1，直径0.2mm的漆包线能承受的额定电流为0.69A。在对作动器通电后，将电流I从0缓慢加至0.69A，对测量输出力f的数据采用最小二乘法拟合，得到图7（a），能够看出f与I表现出了良好的线性度。
将音圈电机压缩至-2mm的位置，并设置为初始位置，之后使用游标卡尺定位。在对音圈电机分别输入0.35A，0.52A和0.69A的电流，每隔0.5mm向前移动线圈的位置，直到2mm的位置时停止，线圈上下位移S对输出力f影响的测量数值如表3所示。将测量后的数据和仿真数据共同绘制于图7（b）。能够看到整体表现非常平滑，测量数值与仿真结果表现出相当的吻合。
从位置零位开始加载，测量音圈电机的输出力f总共30次，得到的输出力f的概率分布图如图7（c）所示。f的平均值为16.57N，计算可得标准差δ为0.057,3σ的值为0.171，主要集中在16.5～16.6N的范围内，f的数值只有极少数落在-3σ～3σ的范围之外，分布非常集中，因此f的重复性表现良好。
在实验测量中，对作动器通入0.69A的满载电流时，最大输出力f的平均值为33.12N。将电机产生的最大输出力33.12N与前后波纹管的放大系数3.0625相乘，最后得到作动器的最大输出驱动力为101.43N。该作动器音圈电机和以往研究者提出的电机结构的输出力密度和输出力平稳性指标对比，如表4所示。通过对比可以发现，本文所设计的音圈电机具有较好的平稳性，以及较大的输出力密度，验证了本音圈电机的设计预期。
4　结论
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本研究设计了一种被动部分液压阻尼、主动部分音圈电机和位置测量3个模块串联的主被动振动抑制结合的减振结构，用电磁有限元计算软件进行电磁学仿真。以最大推力密度为目标，进一步改变作动器的设计结构。然后按照设计参数，对作动器的零件进行机加工并组装，搭载测试平台进行最大输出力的振动测试。试验证明，该作动器能满足设计指标的要求。在本研究中，主动振动抑制部分并未实现闭环控制算法的设计，在之后的研究中将进一步加以完善。
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2025年第8卷第5期
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doi: 10.20249/j.cnki.2096-5974.2025.05.012
  • 首发时间：2026-04-23
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    1上海交通大学 电子信息与电气工程学院·上海·200240
    2上海航天技术研究院·上海·201109
    3上海航天控制技术研究所·上海·201109

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通信作者简介：王坤东，男，副教授，博士生导师。
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