A highly integrated electromechanical actuator was developed in this article, which aims at fulfilling the requirements of high power-to-weight ratio, high efficiency, high integration and low volume in military equipment. Three different transmission schemes were proposed for the integrated electromechanical actuator according to the differences in integration methods. Comparative analysis was conducted on the specific structures of the integrated electromechanical actuator and the categories and performance of the planetary roller screw, which is the key unit of the integrated electromechanical actuator. An integrated electromechanical actuator was designed based on the project requirements. A mathematical model was established and the system transfer function was derived. Based on this, a simulation model of the position loop system was established using the AMESim software and the effects of some related parameters, such as friction, backlash and stiffness, on the dynamic performance of the system were investigated. The related theory and simulation results were experimentally validated by a self-developed integrated electromechanical actuator research prototype combined with the related test system. The data obtained from the step response tests, sinusoidal response tests and repeat locating accuracy tests indicated that the developed integrated electromechanical actuator prototype is of rapid, accurate and stable position tracking capability.

本文研制了一种高度集成的机电执行器，旨在满足军事装备中高功率重量比、高效率、高集成度和小体积的要求。根据集成方式的不同，针对集成机电执行机构提出了三种不同的传动方案。对集成机电执行机构的具体结构以及集成机电执行机构的关键部件行星滚柱丝杠的种类和性能进行了对比分析。根据项目要求，设计了一体化机电执行器。建立了数学模型并推导了系统传递函数。在此基础上，利用AMESim软件建立了位置环系统的仿真模型，研究了摩擦力、间隙、刚度等相关参数对系统动态性能的影响。通过自主研发的集成机电执行器研究样机结合相关测试系统对相关理论和仿真结果进行了实验验证。阶跃响应测试、正弦响应测试和重复定位精度测试的数据表明，所开发的集成机电执行器样机具有快速、准确、稳定的位置跟踪能力。