26 1 Vol126 No 11

2005 1 ACTA A ERONAU TICA ET ASTRONAU TICA SIN ICA Jan. 2005

:100026893 ( 2005) 0120079205

( EHA)
, , ,
( , 100083)
Design , Simulation and Analysis of Integrated Electrical Hydrostatic Actuator
MA J i2ming , FU Yong2ling , L I J un , GAO Bo
( School of Automation Science and Electrical Engineering , Beijing University of
Aeronautics and Astronautics , Beijing 100083 , China)

: ,
, ( EHA)
, ,
, EHA , ( PBW)

: ( EHA) ; ; ; ( PBW) ;
: TH137 :A
Abstract : Integrated electrical hydrostatic actuate system has t he advantages of bot h traditional hydraulic system and
direct drive electrical mechanical system , and it can be modularized easily. This paper describes t he structure and op2
erating principle of EHA , and it gives t he specific requirements of t he system design and selective principles of t he
motor , pump and hydraulic cylinder. Furt hermore , it creates t he mat hematic model of each module. Simulation re2
sults show t hat t he EHA can meet modern aircraft s requirements to t he actuate system , and it can be used widely
in t he future PBW flight control system.
Key words : electrical hydrostatic actuator ( EHA) ; hydraulic ; integrated ; power by wire ( PBW) ; simulation

t rically Powered Act ution Design )

, F2
, 18 F216 C2141 ,
, , J SF 777
A2380
( PBW) ,
[3 5]

PBW
Fly2By2Wire
,PBW
,

[ 1 ,2 ]

NASA
[6 ]
1 EHA
EPAD ( Elec2
Fig11 The 32D model of one kind of EHAs

:2003212230 ; :2004204206 , ,
: (50375009) ( EMA , Elect rical Mechanical Act uator )
 80 26

( EHA ) [ 7 ] : Ic ;C
, ; T
, , EHA ,
, T = ( J m + J p ) g+ ( Kv + Kf ) +
, T DB + D P ( Pa - Pb) ( 4)
: Jp Jm ;
1
; Kf Kv
3 ; T DB ; Pa Pb
: ( EHA2FPVS) ;D ; D p = D/ 2
( EHA2VPFS) ( EHA2 ( 1) ( 3) ( 4)
VPVS) EHA
( FPVS) , C gGV c - D p ( Pa - Pb) - T DB
=
2 ( J p + J m) s + ( Kv + Kf + C E C gG)
( 5)
: Vc ; CE
3

3
2 EHA Fig13 Model of motor uncontrolled
Fig12 Components of EHA EHA , ,
12000r/ min , ,
; ,
; , PI
; [8 ]
PI ,
, 4 ( : Toi Ton
, ):
, ,

1,

Ic = G ( V c - C E ) ( 1)
1/ R c 4
G = ( 2)
Tl s + 1 Fig14 Model of motor and control system

: Rc ; Tl KS
TSs + 1

T = CI c ( 3) , - 10V 10V ,
 1 : ( EHA) 81

20 KHz , ; V0 ; e

T S = 0105
- 3
10 s, KS = 27 , ; L ext
270V ; P1 P2
+ 10V EHA ,
0. 1N m , Ppipe 0 35 KPa ,
5 ,
, ,
Pa = P1 + Ppipe
( 10 )
Pb = P2 - Ppipe
,
L L ext
,
0, Qa = Q1 , Qb = Q2 , EHA
,
, QL
Q1 + Q2 Qa + Qb
QL = = ( 11 )
2 2
( 11) ( 6) ( 9) ,
V 0 d P1 d P2
Dp P - ( Pa - Pb) = A g
x + - +
2 e dt dt
A x d P1 d P2 L
+ + ( P1 - P2 ) ( 12 )
2 e dt dt 2
d Pa d P1 d Pb d P2
, ,
dt dt dt dt
d P1 d P2
, ,
dt dt
5
Fig15 V 0 d P1 d P2
Simulation results of motor s response and DP = Ag
x + - +
armature s current
2 e dt dt
( + L / 2) ( P1 - P2 ) + 2 Ppipe ( 13 )
3 : + L/ 2
, ,2 Ppipe
1ml/ r 30M Pa ,
, ,
EHA
, Qa Qb Ppipe ( ) ,
Qa = DP - ( Pa - Pb) - L ( Pa - Pcase) ( 6)
Qb = D P - ( Pa - Pb) - L ( Pb - Pcase) ( 7)
4
: ;L
; Pcase ,
,
[9 ] F = ( P1 - P2 ) A = M x + B g
x + Kx + FL
( V 0 + A x ) d P1 ( 14 )
Q1 = A g
x + + L ext P1 ( 8)
e dt :M ;B
( V 0 - A x ) d P2 ; K
Q2 = A g
x - - L ext P2 ( 9)
e dt ; FL
:A ;x P1 - P2 ( 13) , EHA
 82 26

,Act uator
V0 + L/ 2 01030m , 011N m , 2s
x = DP - 2 Ppipe - FL s+
2A e A 20000N 8 ,
V0 M 3 V0 B M ( + L/ 2) 2 1
s + + s +
2A e 2A e A 1
KV 0 B ( + L/ 2) K( + L/ 2) Table 1 Parameters
A + + s+ Kf/ Kv/ C E/
2A e A A
(N m) / (rad s - 1) (N m) / (rad s - 1) (V/ (rad s - 1) )
, ,
0. 0002 0. 002 0. 215
, K=0 B d x/ d t C/ ( (N m) / A) J m/ ( kg m2) J p/ ( kg m2)
, ( + L / 2 ) ( P1 - 0. 179 1. 49 10 - 3 1. 2 10 - 4
3
P2 ) A d x/ d t , D/ ( m / rad) / ( m3/ (s Pa) ) T DB/ (N m)
1. 0 10 - 6 1. 0 10 - 14 0. 1
B ( + L / 2) / A A , ( 15 ) 2
L / ( m3/ (s Pa) )
Ppipe/ Pa e/ (N/ m )

2. 0 10 4 6. 86 10 8 1. 5 10 - 14
DP - 2 Ppipe V0 L c/ H Pa/ Pa Pb/ Pa
+ L/ 2
- FL s +1 8. 528 10 - 5 30 10 6 2 10 6
A A2 2 e ( + L/ 2)
x= = Ks T s/ s T me/ s
V0 M 2 V0 B M ( + L/ 2)
s s + + s + 1 27 0. 05 10 - 3 0. 1046
2 A2 e 2 A2 e A
2
V 0/ m3
T l/ s A / m2
DP - 2 Ppipe + L/ 2 V0 3. 99 10 - 4
1. 5 10 - 4
1. 83 10 - 3
- FL 2 s +1
A A 2 e ( + L/ 2) M / kg R c/ B / ( kg s - 1)

s
2
2 h
1. 42 0. 214 7. 4 10 - 5
s + s +1
h h

( 16 )
:
2A2 e
h = ( 17 )
V0 M

B V0 ( + L / 2) 2 e M
h = +
2A 2 eM 2A V0
( 18 )
6

7 EHA Matlab
Fig17 Simulation model of Matlab of EHA

6 EHA
Fig16 Model of EHA system

EHA PID ,
8 EHA
Matlab/ Simulink
Fig18 Step response of EHA
7 , Motor-pump
 1 : ( EHA) 83

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, , ,
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,
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, ,
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, ,
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:
(1979 - ) , , ,
, , , E2mail : ssmjm2000 @yahoo .
, EHA com. cn. Tel : 010282316839
(1966 - ) , ,
,
, ,
,
(1973 - ) , , ,
,
(1975 - ) , , ,
[1] . [D].
: . 2002. ( : )