余度舵机是电传飞控系统的关键部件,其通道间存在着较严重的力纷争现象。在建立四余度舵机数学模型的基础上,研究了力均衡算法,对四余度舵机一次故障、二次故障情况下的性能降级和可靠性进行了仿真分析。仿真结果标明,优化的力均衡算法可以有效解决力纷争的问题,四余度舵机可以在一次故障、二次故障的情况下持续工作。采用动态故障树分析方法进行了四余度舵机可靠性分析,证明了其具有非常高的可靠性。 The margin servo is the key component of the fly-by-wire flight control system, and there is more serious force dispute among the channels. Based on the mathematical model of four surplus steering gear, the force equilibrium algorithm is studied. The performance degradation and reliability of the four redundant steering gear with one fault and two faults are simulated and analyzed. The simulation results show that the optimized force balance algorithm can effectively solve the problem of force disputes. The four redundant servo can work continuously in the case of one fault and the second fault. The dynamic fault tree analysis method was used to analyze the reliability of four-servo system and proved to be very reliable.