In order to investigate the characteristics of the quasi-static and dynamic pull-down process of the self-powered electromechanical actuators, a dynamic model is presented in this paper. The theoretical formulations are based on Euler–Bernoulli beam theory, variable coefficient collector current model and include the effects of both geometric nonlinearity and load nonlinearity due to powered by radioactive source. By applying the Galerkin technique, the nonlinear partial differential governing equations are decoupled into two set of nonlinear ordinary differential equations which are then solved by utilizing the backward differentiation formula. The results based on present model are validated through direct comparisons with the results in the open literatures. The effects of damping coefficients, and initial distances on the pull-down time, dimensionless tip velocity of micro cantilever beams, and dimensionless displacement of the “midpoint” of the actuator are discussed in detail.

为了研究自供电机电执行器的准静态和动态下拉过程的特性，本文提出了一个动力学模型。理论公式基于 Euler-Bernoulli 梁理论、可变系数集电极电流模型，包括由放射源供电引起的几何非线性和负载非线性的影响。应用伽辽金技术，将非线性偏微分控制方程解耦为两组非线性常微分方程，然后利用后向微分公式求解。通过与公开文献中的结果直接比较，验证了基于现有模型的结果。阻尼系数和初始距离对下拉时间的影响，