CN113050599A - Fault diagnosis test bed for electromechanical actuator - Google Patents
Fault diagnosis test bed for electromechanical actuator Download PDFInfo
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- CN113050599A CN113050599A CN202110282281.4A CN202110282281A CN113050599A CN 113050599 A CN113050599 A CN 113050599A CN 202110282281 A CN202110282281 A CN 202110282281A CN 113050599 A CN113050599 A CN 113050599A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
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Abstract
The invention discloses a fault diagnosis test bed for an electromechanical actuator, which comprises a motor and a ball screw mechanism, wherein the motor is fixed on a bottom plate through a motor base; a rotating shaft of the motor is connected with a lead screw of the ball screw mechanism through a coupler; after the motor is started, the torque is transmitted to the lead screw through the coupler, and the lead screw transmits the rotary motion to the nut group; the nut group is fixed with the linear moving platform through the nut group base, and the linear moving platform makes reciprocating linear motion on the bottom plate; the nut group base is connected with load traction, and the load traction moves through the load of a traction rope traction system. The invention realizes implantation of various faults related to the electromechanical actuator system and acquisition of fault data, and the test bed is simple and portable, and is easy to operate, implant the faults, acquire data, observe experimental phenomena and the like.
Description
Technical Field
The invention belongs to the technical field of electromechanical equipment, relates to an electromechanical actuator, and particularly relates to a fault diagnosis test bed for the electromechanical actuator.
Background
An electromechanical actuator (EMA) is a typical power electric transmission actuator, and directly converts electric energy into mechanical energy, so that a complex oil circuit of a traditional hydraulic actuating system is omitted. The control device directly or indirectly controls the movement of the load by controlling the operation of the motor, thereby realizing the position control of the target.
Beginning in the 70's of the 20 th century, electromechanical actuators began to be used in systems requiring precision control, such as missiles and airplanes. The electromechanical actuator mainly provides input torque and rotating speed through a permanent magnet synchronous motor controlled by a servo driver, and the ball screw mechanism converts the rotating motion into linear motion and torque output. The electromechanical actuator can provide accurate output with a large speed range and a large torque range with small mass and volume, instead of the hydraulic actuator used in the traditional electromechanical system, the hydraulic pump used in the electro-hydrostatic actuator and the accessory facilities thereof. The electromechanical actuator can be divided into a rotary type and a linear type according to different motion modes of the actuating mechanism, and the linear type electromechanical actuator can be divided into a direct-drive linear type electromechanical actuator and a linear type electromechanical actuator with a gear box according to the fact that a gear box is arranged between a motor end and a ball screw mechanism. The invention aims at a direct-drive linear electromechanical actuator.
For a rotating mechanical system driven by a motor, the output torque of the motor and the equipment at the dragging end thereof satisfy the mechanical motion equation, namely
Wherein ω ismIs the mechanical angular velocity of the motor, J is the moment of inertia, TeIs the electromagnetic torque, B is the damping coefficient, TLIs the load torque. The electromagnetic torque is a constant value, the damping coefficient is a constant which can be ignored generally, when the angular velocity of the dragging end is increased, the velocity of the linear reciprocating motion of the ball screw mechanism is increased, the load capacity is reduced, and vice versa. The invention designs a fault diagnosis test bed of an electromechanical actuator using a permanent magnet synchronous motor as a driving motor based on the formula.
The electromechanical actuator has high technical integration level and compact internal structure, is difficult to directly implant various faults into the commercial electromechanical actuator and carry out fault diagnosis and research, and is particularly suitable for the high-performance electromechanical actuator, so that the development progress of fault diagnosis of the electromechanical actuator is greatly limited.
Disclosure of Invention
Aiming at the defects that the commercial electromechanical actuator in the prior art has high internal integration level and is difficult to implant and research various electromechanical actuator faults, the invention provides the electromechanical actuator fault diagnosis test bed, which realizes the implantation of various faults related to an electromechanical actuator system and the acquisition of fault data, and has the advantages of simplicity, portability, easy operation, fault implantation, data acquisition, experimental phenomenon observation and the like.
Therefore, the invention adopts the following technical scheme:
a fault diagnosis test bed for an electromechanical actuator comprises a motor for providing torque and a pair of ball screw mechanisms, wherein the motor is fixed on a bottom plate through a motor base, each ball screw mechanism comprises a screw rod which performs rotary motion and a nut group which converts the rotary motion into linear motion, and two ends of the screw rod are fixed on two bearing blocks through bearings; a rotating shaft of the motor is connected with a lead screw of the ball screw mechanism through a coupler; after the motor is started, the torque is transmitted to the lead screw through the coupler, and the lead screw transmits the rotary motion to the nut group; the nut group is fixed with the linear moving platform through the nut group base, and the linear moving platform makes reciprocating linear motion on the bottom plate; the nut group base is connected with a load traction device, and the load traction device moves through a load of a traction rope traction system; the bottom plate is supported by the bottom plate support, and a limiting magnet of a limiting electromagnetic switch is fixed on the front side face of the linear moving platform.
Further, the nut group comprises a driving nut, a driven nut, a connecting key, a driven nut seat, a drum-shaped nut, a disc-shaped spring, a sleeve and a nut group base; the driven nut is connected with the driving nut through a connecting key, so that the pre-tightening force between the driven nut and the driving nut is stable and adjustable; the driven nut seat is sleeved on the outer side of the driven nut, and the driven nut seat is in clearance fit with the driven nut; the outer wall of the driven nut seat is a threaded surface and is matched with the drum-shaped nut in a screw pair mode.
Furthermore, the pre-tightening force between the driven nut and the driving nut is set by adjusting the distance between a drum-shaped nut and a disc-shaped spring which are arranged on a driven nut seat; the nut group base, the limit stop and the linear moving platform are connected through bolts.
Preferably, the two bearing seats are a near-motor end bearing seat and a far-end bearing seat respectively, two angular contact ball bearings which are installed face to face are arranged in the near-motor end bearing seat, and a deep groove ball bearing is installed in the far-end bearing seat.
Preferably, the central lines of the motor, the motor base, the shaft coupling, the bearing seat near the motor end, the lead screw, the nut group base and the bearing seat far from the end are all distributed on the same axis.
Preferably, the test bed is used for simulating various fault modes including nut ball pitting, nut raceway pitting, nut abrasion, nut pretightening force, screw pit corrosion, screw abrasion, screw support bearing pitting, screw support bearing abrasion, local demagnetization of a rotor of a dragging motor, air gap eccentricity of the dragging motor and turn-to-turn short circuit of a stator of the dragging motor of the ball screw mechanism.
Preferably, the nut group base is in traction connection with a load through threads, one end of the traction rope is pulled by the load and fixed by a traction rope pin, and the other end of the traction rope is fixed by a load bolt after passing around a traction pulley supported by the traction pulley base.
Preferably, the bottom of the linear moving platform is fixedly connected with four uniformly distributed sliding blocks through threads, and the four sliding blocks are respectively matched with two parallel linear sliding rails fixed on the bottom plate and used for supporting and keeping the linear reciprocating motion of the nut group.
Preferably, when the limit electromagnetic switch moves to a set limit position, the limit electromagnetic switch is triggered, the motor receives a control signal instruction to rotate reversely, the shaft coupling drives the lead screw to rotate reversely, the lead screw drives the driving nut to do linear motion through screw transmission, and the driving nut drives the nut group and the linear moving platform to move reversely from the limit position.
Preferably, the motor is a permanent magnet synchronous motor, and the bottom plate bracket are fixed by adopting 40-type industrial aluminum alloy and connecting pieces thereof in a joggle joint and threaded connection mode.
Compared with the prior art, the invention has the beneficial effects that:
(1) the fault diagnosis test bed for the electromechanical actuator realizes implantation of various faults related to the electromechanical actuator system and acquisition of fault data.
(2) According to the fault diagnosis test bed for the electromechanical actuator, the implanted fault type and the severity of the fault can be designed according to the use conditions.
(3) The electromechanical actuator fault diagnosis test bed provided by the invention is simple to manufacture and assemble, low in manufacturing cost and good in engineering application value.
Drawings
FIG. 1 is a front view of an electro-mechanical actuator fault diagnosis test bed provided by the present invention.
FIG. 2 is a top view of an electro-mechanical actuator fault diagnosis test bed provided by the present invention.
FIG. 3 is an isometric view of an electro-mechanical actuator fault diagnosis test stand in accordance with the present invention.
FIG. 4 is an isometric view of a ball screw mechanism in an electro-mechanical actuator fault diagnosis test stand in accordance with the present invention.
FIG. 5 is an isometric view of a base and a linear motion platform of the fault diagnosis test bed for the electromechanical actuator provided by the invention.
Description of reference numerals: 1. a motor; 2. a motor base; 3. a coupling; 4. a bearing seat near the motor end; 5. a lead screw; 6. a driven nut; 7. a driven nut seat; 8. a drum-shaped nut; 9. a disc-shaped spring; 10. a sleeve; 11. a nut group base; 12. an active nut; 13. a distal bearing mount; 14. a linear moving platform; 15. a slider; 16. a slide rail; 17. a limit electromagnetic switch; 18. a base plate; 19. a base plate bracket; 20. a limit stop block; 21. carrying out load traction; 22. a pull rope pin; 23. a hauling rope; 24. a traction sheave base; 25. a traction sheave; 26. a load latch; 27. and (4) loading.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, which are provided for illustration only and are not to be construed as limiting the invention.
As shown in fig. 1-3, the present invention discloses a fault diagnosis test bed for an electromechanical actuator, which comprises a motor 1 for providing torque and a pair of ball screw mechanisms, wherein the motor 1 is fixed on a bottom plate 18 through a motor base 2, the ball screw mechanisms comprise a screw 5 for rotating and a nut set for converting the rotating motion into linear motion, and two ends of the screw 5 are fixed on two bearing seats through bearings; a rotating shaft of the motor 1 is connected with a lead screw 5 of the ball screw mechanism through a coupler 3; after the motor 1 is started, torque is transmitted to the lead screw 5 through the coupler 3, and the lead screw 5 transmits rotary motion to the nut group; the nut group is fixed with the linear moving platform 14 through the nut group base 11, and the linear moving platform 14 makes reciprocating linear motion on the bottom plate 18; the nut group base 11 is connected with a load traction 21, and the load traction 21 moves through a load 27 of a traction system of a traction rope 23; the bottom plate 18 is supported by a bottom plate bracket 19, and a limiting magnet of a limiting electromagnetic switch 17 is fixed on the front side surface of the linear moving platform 14.
The nut group comprises a driving nut 12, a driven nut 6, a connecting key, a driven nut seat 7, a drum-shaped nut 8, a disc-shaped spring 9, a sleeve 10 and a nut group base 11; the driven nut 6 is connected with the driving nut 12 through a connecting key, so that the pre-tightening force between the driven nut 6 and the driving nut 12 is stable and adjustable; the driven nut seat 7 is sleeved on the outer side of the driven nut 6, and the driven nut seat 7 is in clearance fit with the driven nut 6; the outer wall of the driven nut seat 7 is a threaded surface and is matched with the drum-shaped nut 8 in a screw pair mode.
The pre-tightening force between the driven nut 6 and the driving nut 12 is set by adjusting the distance between a drum-shaped nut 8 and a disc-shaped spring 9 which are arranged on a driven nut seat 7; the nut group base 11 and the limit stop 20 are connected with the linear moving platform 14 through bolts.
The two bearing seats are a near-motor end bearing seat 4 and a far-end bearing seat 13 respectively, two angular contact ball bearings which are installed face to face are arranged in the near-motor end bearing seat 4, and a deep groove ball bearing is installed in the far-end bearing seat 13.
The central lines of the motor 1, the motor base 2, the shaft coupling 3, the bearing seat 4 close to the motor end, the lead screw 5, the nut group base 11 and the bearing seat 13 at the far end are all distributed on the same axis.
The test bed is used for simulating various fault modes including nut ball pitting, nut raceway pitting, nut abrasion, nut pretightening force, screw pitting, screw abrasion, screw supporting bearing pitting, screw supporting bearing abrasion, local demagnetization of a dragging motor rotor, air gap eccentricity of a dragging motor and turn-to-turn short circuit of a stator of the dragging motor of a ball screw mechanism.
The nut group base 11 is connected with a load traction 21 through threads, one end of a traction rope 23 is fixed by the load traction 21 and a traction rope pin 22, and the other end of the traction rope passes through a traction pulley 25 supported by a traction pulley base 24 and then is fixed with a load 27 by a load bolt 26.
The bottom of the linear moving platform 14 is fixedly connected with four evenly distributed sliding blocks 15 through threads, and the four sliding blocks 15 are respectively matched with two parallel linear sliding rails 16 fixed on a bottom plate 18 and used for supporting and keeping the linear reciprocating motion of the nut group.
When the limit electromagnetic switch 17 moves to a set limit position, the limit switch is triggered, the motor 1 receives a control signal instruction to rotate reversely, the screw 5 is driven to rotate reversely by the coupler 3, the screw 5 drives the driving nut 12 to move linearly by screw transmission, and the driving nut 12 drives the nut group and the linear moving platform 14 to move reversely from the limit position.
The motor 1 is a permanent magnet synchronous motor, and the bottom plate 18 and the bottom plate bracket 19 are fixed by adopting 40 type industrial aluminum alloy materials and connecting pieces thereof in a joggle joint and threaded connection mode.
Examples
As shown in fig. 1 and 2, the electromechanical actuator fault diagnosis test bed comprises a permanent magnet synchronous motor 1, a motor base 2, a coupler 3, a bearing seat 4 near the motor end, a lead screw 5, a far-end bearing seat 13, a driven nut 6, a driven nut seat 7, a drum-shaped nut 8, a disc-shaped spring 9, a sleeve 10, a driving nut 12, a linear moving platform 14, a limit electromagnetic switch 17, a sliding block 15, a sliding rail 16, a bottom plate 18 and a bottom plate support 19. The motor 1 is mounted on a motor base 2 for providing system input torque. The coupler 3 is used for connecting the permanent magnet synchronous motor 1 with the lead screw 5, the bearing seat 4 near the motor end and the bearing seat 13 far from the motor end are used for supporting and fixing the lead screw 5, and the sliding block 15 is matched with the sliding rail 16 and used for supporting the horizontal linear motion of the linear moving platform 14. The limit stopper 20 is installed on the linear moving platform 14 and located right below the driven nut 6, and is used for limiting the rotation of the driven nut 6.
As shown in fig. 3, in the electromechanical actuator fault diagnosis test bed, the motor base 2, the near-motor end bearing seat 4, the far-end bearing seat 13, the slider 15, the slide rail 16 and the linear motion platform 14 are made of iron-based materials such as carbon steel materials and stainless steel materials, and the bottom plate 18 and the bottom plate bracket 19 are made of light metal materials including 6061 alloy, hard aluminum and the like.
As shown in fig. 4, the ball screw mechanism of the electromechanical actuator includes a screw 5, a driven nut 6, a driven nut holder 7, a drum nut 8, a disc spring 9, a sleeve 10, a nut set holder 11, and a driving nut 12. The lead screw 5 is sequentially installed in the sequence of a driving nut 12, a nut group base 11, a sleeve 10, a disc spring 9, a drum-shaped nut 8, a driven nut seat 7 and a driven nut 6, wherein the driving nut 12 and the driven nut 6 keep the same torque and the same rotating speed through keys, the driven nut seat 7 is matched with the driven nut 6 and matched with the drum-shaped nut 8 in a threaded connection mode, pressure of different degrees is applied to the disc spring 9 by adjusting the position of the drum-shaped nut 8 on the driven nut seat 7, and the pressure at two ends of the disc spring 9 is transmitted to the driving nut 12 and the driven nut 6 to form the pre-tightening force of the nuts.
As shown in fig. 5, the linear motion platform, the traction mechanism and the base plate part of the electromechanical actuator comprise a nut group base 11, a linear motion platform 14, a slide block 15, a slide rail 16, a base plate 18, a base plate bracket 19, a load traction 21, a traction rope pin 22, a traction rope 23, a traction pulley base 24, a traction pulley 25, a load latch 26 and a load 27. The slide rails 16 are fixedly installed in two parallel prefabricated grooves of the bottom plate 18 through boat-shaped nuts and bolts, after the installation is finished, the slide rails 16 are adjusted to be parallel to the bottom plate 18, the sliding blocks 15 are matched with the slide rails 16, the linear moving platform 14 and the sliding blocks 15 are fixed together through bolts, and the linear moving platform 14 is mainly used for keeping and following the linear motion of the system. The load traction 21 is fixed on the nut group base 11 through bolt connection, one end of the traction rope 23 is fixed by the load traction 21 and the traction rope pin 22, the middle of the traction rope is fixed by a traction pulley 25 supported by a traction pulley base 24, and the other end of the traction rope is fixed by a load bolt 26 and a load 27, so that the load of the electromechanical actuator fault diagnosis test bed is formed.
An assembly process of an electromechanical actuator fault diagnosis test bed, comprising the steps of:
s1, installing a motor base 2 on a bottom plate 18 through boat-shaped nuts and bolts, inserting the motor 1 into a motor hole of the motor base 2, and installing the motor 1 on the motor base 2 through the bolts.
S2, installing the linear moving platform 14, installing and fixing two sliding rails 16 in a prefabricated groove of a bottom plate 18, matching two sliding blocks 15 with the corresponding sliding rails, and connecting the linear moving platform 14 with the four sliding blocks 15 through bolts.
And S3, installing a nut group, sequentially installing a driving nut 12, a nut group base 11, a sleeve 10, a disc spring 9, a drum-shaped nut 8, a driven nut base 7 and a driven nut 6 on the lead screw 5 in sequence, and fixing the nut group base 11 on the linear moving platform 14 by using bolt connection.
And S4, mounting a bearing seat and a traction pulley base, and respectively mounting a bearing seat 4 close to the motor end, a bearing seat 13 at the far end and a traction pulley base 24 in a prefabricated groove of the bottom plate 18 by using ship-shaped nuts and bolts.
S5, a lead screw is installed, a pair of angular contact ball bearings are installed at the position, close to a motor end shaft shoulder, of the lead screw 5 in a face-to-face mode, a deep groove ball bearing is installed at the position, far away from the motor end shaft shoulder, of the lead screw, and the lead screw 5 with bearings at two ends is installed on corresponding bearing seats.
S6, a coupler is installed, a shaft of the motor 1 and a shaft of the lead screw 5 are adjusted to be the same axis, a rotating shaft extending part of the motor 1 is inserted into one end of the coupler 3, a lead screw extending part close to the motor end is inserted into the other end of the coupler 3, and the rotating shaft and the lead screw of the motor are locked by screws on the coupler.
S7, installing a traction mechanism, connecting and fixing the load traction 21 on the nut group base 11 through a bolt, fixing one end of a traction rope 23 through the load traction 21 and a traction rope pin 22, fixing the middle of the traction rope through a traction pulley 25 supported by a traction pulley base 24, and fixing the other end of the traction rope through a load bolt 26 and a load 27 to form the load of the electromechanical actuator fault diagnosis test bed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and scope of the present invention are intended to be covered thereby.
Claims (10)
1. The utility model provides an electromechanical actuator fault diagnosis test bench which characterized in that: the device comprises a motor (1) for providing torque and a pair of ball screw mechanisms, wherein the motor (1) is fixed on a bottom plate (18) through a motor base (2), each ball screw mechanism comprises a screw (5) which makes rotary motion and a nut group which converts the rotary motion into linear motion, and two ends of the screw (5) are fixed on two bearing blocks through bearings; a rotating shaft of the motor (1) is connected with a lead screw (5) of the ball screw mechanism through a coupler (3); after the motor (1) is started, torque is transmitted to the lead screw (5) through the coupler (3), and the lead screw (5) transmits rotary motion to the nut group; the nut group is fixed with the linear moving platform (14) through a nut group base (11), and the linear moving platform (14) makes reciprocating linear motion on the bottom plate (18); the nut group base (11) is connected with a load traction device (21), and the load traction device (21) moves through a load (27) of a traction system of a traction rope (23); the bottom plate (18) is supported by a bottom plate bracket (19), and a limiting magnet of a limiting electromagnetic switch (17) is fixed on the front side surface of the linear moving platform (14).
2. The electro-mechanical actuator fault diagnosis test bed of claim 1, wherein: the nut group comprises a driving nut (12), a driven nut (6), a connecting key, a driven nut seat (7), a drum-shaped nut (8), a disc-shaped spring (9), a sleeve (10) and a nut group base (11); the driven nut (6) is connected with the driving nut (12) through a connecting key, so that the pre-tightening force between the driven nut (6) and the driving nut (12) is stable and adjustable; the driven nut seat (7) is sleeved on the outer side of the driven nut (6), and the driven nut seat (7) is in clearance fit with the driven nut (6); the outer wall of the driven nut seat (7) is a threaded surface and is matched with the drum-shaped nut (8) in a screw pair mode.
3. The electro-mechanical actuator fault diagnosis test bed of claim 2, wherein: the pre-tightening force between the driven nut (6) and the driving nut (12) is set by adjusting the distance between a drum-shaped nut (8) and a disc-shaped spring (9) which are arranged on a driven nut seat (7); the nut group base (11) and the limit stop (20) are connected with the linear moving platform (14) through bolts.
4. The electro-mechanical actuator fault diagnosis test bed of claim 1, wherein: the two bearing seats are a near-motor end bearing seat (4) and a far-end bearing seat (13) respectively, two angular contact ball bearings which are installed face to face are arranged in the near-motor end bearing seat (4), and a deep groove ball bearing is installed in the far-end bearing seat (13).
5. The electro-mechanical actuator fault diagnosis test bed of claim 4, wherein: the central lines of the motor (1), the motor base (2), the shaft coupling (3), the bearing seat (4) close to the motor end, the lead screw (5), the nut group base (11) and the far-end bearing seat (13) are all distributed on the same axis.
6. The electro-mechanical actuator fault diagnosis test bed of claim 1, wherein: the test bed is used for simulating various fault modes including nut ball pitting, nut raceway pitting, nut abrasion, nut pretightening force, screw pitting, screw abrasion, screw supporting bearing pitting, screw supporting bearing abrasion, local demagnetization of a dragging motor rotor, air gap eccentricity of a dragging motor and turn-to-turn short circuit of a stator of the dragging motor of a ball screw mechanism.
7. The electro-mechanical actuator fault diagnosis test bed of claim 1, wherein: the nut group base (11) is connected with a load traction device (21) through threads, one end of a traction rope (23) is fixed by the load traction device (21) and a traction rope pin (22), and the other end of the traction rope is fixed by a load bolt (26) after passing around a traction pulley (25) supported by a traction pulley base (24).
8. The electro-mechanical actuator fault diagnosis test bed of claim 1, wherein: the bottom of the linear moving platform (14) is fixedly connected with four evenly distributed sliding blocks (15) through threads, and the four sliding blocks (15) are respectively matched with two linear sliding rails (16) which are fixed on a bottom plate (18) and arranged in parallel and used for supporting and keeping the linear reciprocating motion of the nut group.
9. The electro-mechanical actuator fault diagnosis test bed of claim 1, wherein: when the limiting electromagnetic switch (17) moves to a set limit position, the limiting switch is triggered, the motor (1) receives a control signal instruction to rotate reversely, the screw rod (5) is driven to rotate reversely through the coupler (3), the screw rod (5) drives the driving nut (12) to move linearly through screw transmission, and the driving nut (12) drives the nut set and the linear moving platform (14) to move reversely from the limit position.
10. The electro-mechanical actuator fault diagnosis test bed of any one of claims 1-9, wherein: the motor (1) is a permanent magnet synchronous motor, and the bottom plate (18) and the bottom plate bracket (19) are fixed by adopting 40-type industrial aluminum alloy and connecting pieces thereof in a joggle and threaded connection mode.
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