智能主动构件的设计、实验和分析研究
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摘要
本文为自适应调节和改善可展结构动力学性能，研制了一种具有传感和作动双重功能的智能主动构件。利用压电材料的正逆压电效应，建立了压电微位移作动器的设计模型。给出了智能主动构件的组成和工作原理。研制了一种用于自适应可展结构的新型智能主动构件。该主动构件由压电作动器、传感器等组成，具有输出位移和输出力的功能。并讨论了设计理论、参数选取及对压电主动构件性能带来的影响。
压电主动构件本身的动力学特性是不可忽视的。特别对于其共振区更为突出。所以建立压电主动构件的动力学模型显得尤为重要。本文从电磁学原理，压电方程，机械力的平衡方程和几何方程出发，利用主动构件的边界条件，用有限元方法得到了主动构件的动力学方程。
本文通过实验研究了压电主动构件的工作性能、输出位移、输出力及其相关问题，验证了压电主动构件的力学输出量与其驱动电压的非线性关系。实验表明该主动构件符合设计要求，并与理论分析基本吻合。
本文提出了双向式双压电驱动器的智能主动构件的设计思想，并已申报了专利，文中用有限元方法建立了该构件的动力学方程，并进行了静态特性的初步分析，理论分析表明该主动构件具有输出力、输出位移和工作范围大的特点，可作为自适应结构的振动和精密定位控制用。
In this paper, a new intelligent active member was designed and manufactured, which can sense its location and force to adaptively control and improve performance of deployable structures. The design was developed for a piezoelectric micro-placement actuator based on the actuation effect of piezoelectric materials. The composition of the intelligent active member and its operating mechanism are presented for aerospace adaptive-deployable structures. This new- active member includes a piezoelectric actuator, a micro-placement sensor to measure the output placement and output force. The theoretic design, selection of parameters, and their influences on properties of the active member are also discussed.
The dynamic properties of the piezoelectric active member can't be neglected, especially in its area of resonance. So it is more and more important to build dynamic model. Based on the conditions of electromagnetics principle ,of actuation effect of piezoelectric materials, of the mechanical balance equations, of the geometry equations., of the boundary conditions of the piezoelectric active member and the application of finite element method, the dynamic equation of piezoelectric active member is formulated.
The operation properties of the piezoelectric active member ,such as
its output displacement, output force and the relative problems, are experimentally studied in this paper. The experiment demonstrated the non-linear relation for the mechanical outputs to the applied voltage of the active member. The experimental results show that the piezoelectric active member tallies with the design demand and accords with the theoretical analysis on the whole.
In this paper, a new double-actuator intelligent active member is designed and its patent has been applied. Based on the application of finite element method, the dynamic equation of the new piezoelectric active member is formulated and the properties of its static state is also analysed. The theoretical analysis shows that its output displacement , output force and its work range is more great than the one-actuator intelligent active member. According to the theoretical analysis, it can be available to the vibration control and precision orientation.
压电主动构件本身的动力学特性是不可忽视的。特别对于其共振区更为突出。所以建立压电主动构件的动力学模型显得尤为重要。本文从电磁学原理，压电方程，机械力的平衡方程和几何方程出发，利用主动构件的边界条件，用有限元方法得到了主动构件的动力学方程。
本文通过实验研究了压电主动构件的工作性能、输出位移、输出力及其相关问题，验证了压电主动构件的力学输出量与其驱动电压的非线性关系。实验表明该主动构件符合设计要求，并与理论分析基本吻合。
本文提出了双向式双压电驱动器的智能主动构件的设计思想，并已申报了专利，文中用有限元方法建立了该构件的动力学方程，并进行了静态特性的初步分析，理论分析表明该主动构件具有输出力、输出位移和工作范围大的特点，可作为自适应结构的振动和精密定位控制用。
In this paper, a new intelligent active member was designed and manufactured, which can sense its location and force to adaptively control and improve performance of deployable structures. The design was developed for a piezoelectric micro-placement actuator based on the actuation effect of piezoelectric materials. The composition of the intelligent active member and its operating mechanism are presented for aerospace adaptive-deployable structures. This new- active member includes a piezoelectric actuator, a micro-placement sensor to measure the output placement and output force. The theoretic design, selection of parameters, and their influences on properties of the active member are also discussed.
The dynamic properties of the piezoelectric active member can't be neglected, especially in its area of resonance. So it is more and more important to build dynamic model. Based on the conditions of electromagnetics principle ,of actuation effect of piezoelectric materials, of the mechanical balance equations, of the geometry equations., of the boundary conditions of the piezoelectric active member and the application of finite element method, the dynamic equation of piezoelectric active member is formulated.
The operation properties of the piezoelectric active member ,such as
its output displacement, output force and the relative problems, are experimentally studied in this paper. The experiment demonstrated the non-linear relation for the mechanical outputs to the applied voltage of the active member. The experimental results show that the piezoelectric active member tallies with the design demand and accords with the theoretical analysis on the whole.
In this paper, a new double-actuator intelligent active member is designed and its patent has been applied. Based on the application of finite element method, the dynamic equation of the new piezoelectric active member is formulated and the properties of its static state is also analysed. The theoretical analysis shows that its output displacement , output force and its work range is more great than the one-actuator intelligent active member. According to the theoretical analysis, it can be available to the vibration control and precision orientation.
引文
1、Ben K. Wada, Adaptive Structures: An Overview, J. Spacecraft, 1990, Vol. 27, No. 3, 330-337
2、R. W. Longman and K. T. Alfriend, Actuator placement from degree of controllability criteria for regular slewing of flexible spacecraft, ACTA Astronautica, 1981, Vol. 8, No. 8, 703-718
3、郭吉丰，魏燕定，郭海训，邬锡中，空间挠性结构的振动控制，国家863十五年成果学术成果交流会，2000年12月12-14，北京，643-648
4、郭吉丰，陈维新，陈永校，柔性机械臂用压电驱动器实现精密定位控制的研究，机器人，1998，20(3)，192-197(EI检索)
5、郭吉丰，陈维新，林瑞光，空间单连杆柔性机械臂用压电驱动器的振动控制，空间站技术学术交流会论文集，国家高技术航天领域空间站技术专家组，1997年11月，280-284
6、魏燕定，郭吉丰，郭海训，智能梁压电致动器位置布置探讨，噪声与振动控制，2000，1，16-18
7、M. Natori, S. Ogura, S. Murohashi and F. Kuwao, Control of Truss Structures Using Member Actuators, Mech. System and Signal Processing, 1993, Vol. 7, No. 4, 321-333
8、阎绍泽，吴德隆等，用于自适应可展结构的压电式智能主动杆，清华大学学报(自然科学版)，2002，Vol．42，No．6，762-765
9、李俊宝，吕刚，智能桁架结构振动控制中压电主动构件的研究：(一)压电主动构件设计，压电与声光，1998，Vol．20，No．2，89-94
10、李俊宝，吕刚，智能桁架结构振动控制中压电主动构件的研究：(二)压电主动构件的实验，压电与声光，1998，Vol．20，N0．3，180-185
11、李俊宝，吕刚，智能桁架结构振动控制中压电主动构件的研究：(三)压电主动构件动力学建模，压电与声光，1998，Vol．20，No．4，237-241
12、李俊宝，张景绘，任勇生，张令弥。振动工程中智能结构的研究进展。力学进展，1999，29(2)，165-177
13、李传兵，廖昌荣等。压电智能结构的研究进展。压电与声光，2002，24
(1)，27-31
14、严蔚，刘承斌，王柏生等。新型高阻尼弹簧及其性能研究。振动与冲击，已录用。
15、周洋，陈大明。智能材料与结构在航空领域的研究进展。材料导报，2001，15(3)，28-29
16、侯旭东，张元冲。压电智能结构动力系统的伽辽金方法。上海力学，1998，19(4)，341-350
17、聂润兔，邵成勋。智能桁架机电耦合动力分析与振动控制。振动工程学报，1997，10(2)，119-124
18、Rogelio Luck, Emmanuel I. Agba. On the design of piezoelectric sensors and actuators. ISA TRANSACTIONS37 (1998), 65-72
19、芮小键，张幼桢。压电陶瓷微位移器的实验研究。航空学报，1995，16(3)，299-303
20、BRIJ N. AGRAWAL, M. ADNAN ELSHAFEI and GANGBING SONG .ADAPTIVE ANTENNA SHAPE CONTROL USING PIEZOELECTRIC ACTUATORS .Acta Astronautica ,1997,40(11),821-826
21、朱晓荣，陶宝棋，郑世杰，梁大开。压电固体作动筒的应用基础研究。压电与声光，2000，22(1)，19-22
22、孙慷，张福学。压电学(上)。北京：国防工业出版社，1994
23、杨生元，黄文浩。动态情形下压电介质中的机电耦合关系。研究通讯，1998，20(2)，122-123
24、John A. Main, Ephrahim Garcia, David V. Newton. Precision Position Control of Piezoelectric Actuators Using Charge Feedback. Journal of Guidance, Control, and Dynamics, 1995,18(5),1068-1073
25、R. Lammering, Jianhu Jia and C.A. Rogers. Optimal Placement of Piezoelectric Actuators In Adaptive Truss Structures. Journal of Sound and Vibration. 1994,171(1),67-85
26、M. Naillon, R.H. Coursant and F. Besnier. Analysis of piezoelectric structures by a finite element method. Acta Electronica, 1983,
25 (4), 341-362
27、W. Zhu, K. Yao, Z. Zhang. Design and fabrication of a novel piezoelectric multiplayer actuator by thick-film screen printing technology .Sensors and Actuators86(2000)149-153
28、Milan Mitrovie, Greg P. Carman, Friedrich K. Straub. Response of piezoelectric stack actuators under combined electro-mechanical loading. Iternational Journal of Solids and Structures 38(2001),4357-4374
29、R. Lammering. The application of a finite shell element for composites containing piezoelectric polymers in vibration control. Computers and Structures ,1991,41(5),1101-1109
30、Edward F. Crawley. Intelligent structures for aerospace:A technology overview and assessment. AIAA Journal, 1994,32(8),1689-1699
31、H. S. Tzou and C. I. Tseng. Distributed piezoelectric sensor/actuator design for dynamic measurement/control of distributed parameter systems:a piezoelectric finite element approach. Journal of Sound and Vibration, 1990,138(1),17-34
32、Sung Kyu Ha, Charles Keilers, and Fu-Kuo Chang. Finite element analysis of composite structures containing distributed piezoceramic sensors actuators. AIAA Journal, 1992,30(3),772-780
33、N.W. Hagood and A. Von Flotow. Damping of structural vibrations with piezoelectric materials and passive electrical networks. Journal of Sound and Vibration ,1991,146(2),243-268
34、A. Baz and S. Poh. Performance of an active control system with piezoelectric actuators. Journal of Sound and Vibration, 1988, 126 (2), 327-343
35、Edward F. Crawley and Javier de Luis. Use of piezoelectric actuators as elements of intelligent structures. AIAA Journal, 1987,25(10),
1373-1385
36、Woo-Seok Hwang and Hyun Chul Park. Finite element modeling of piezoelectric sensors and actuators. AIAA Journal, 1993,31(5),930-937
37、M.V. Donadon, S.F.M. Almeida, A.R. de Faria. Stiffening effects on the natural frequencies of laminated plates with piezoelectric actuators. Composites:Part B 33(2002)335-342
38、N. Yu. On overall properties of smart piezoelectric composites. Composites:Part B 30(1999)709-712
39、Ben K. Wada, Sam L. Venneri. Recent progress in adaptive structures for space. Acta Astronautica, 1997,40(2-8),85-94
40、H.S. Tzou. A new distributed sensor and actuator theory for "intelligent" shells. Journal of Sound and Vibration, 1992,153(2), 335-349
41、John A. Main and Ephrahim Garcia. Piezoelectric stack actuators and control system design:strategies and pitfalls. Journal of Guidance, Control, and Dynamics, 1997,20(3),479-485
42、H. S. Tzou and M. Gadre. Theoretical analysis of a multi-layered thin shell coupled with piezoelectric shell actuators for distributed vibration controls. Journal of Sound and Vibration ,1989,132(3), 433-450
43、王勖成，邵敏。有限单元基本原理和数值方法。北京：清华大学出版社，1996
44、田晓耕，沈亚鹏，张元冲，陈儒。压电堆在结构振动隔离中的应用。上海力学，1999，20(1)，43-48
45、张传忠。压电材料的发展及应用。压电与声光，1993，15(3)，64-70
46、田莳，徐永利。智能材料系统和结构中的压电材料。功能材料，1996，27(2)，103-109
47、董维杰，孙宝元，崔玉国，杨志欣。自感知执行器——传感器、执行器
集成新概念。压电与声光，2001，23(2)，120-123
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52、余海湖，赵愚，姜德生。智能材料与结构的研究及应用。武汉理工大学学报，2001，23(11)，37-41
53、李山青，刘正兴，杨耀文。压电材料在智能结构形状和振动控制中的应用。力学进展，1999，29(1)，66-76
54、任秀华，陆萌，麦汉超。智能结构的建模技术初探。强度与环境，1999(1)，60-64
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56、黄文虎，王心清等。航天柔性结构振动控制的若干新进展。力学进展，1997，27(1)，5-18
57、阎绍泽，陈洪彬等。智能可展结构概念研究。导弹与航天运载技术，2002(3)， 42-46
58、聂润兔，邵成勋，邹振祝。自适应桁架结构机电耦合动力学方程。力学与实践，1997，19(5)，32-33
59、杨大智。智能材料与智能系统。天津：天津大学出版社，2000
60、杜善义。智能材料系统与结构。北京：科学出版社，2001
2、R. W. Longman and K. T. Alfriend, Actuator placement from degree of controllability criteria for regular slewing of flexible spacecraft, ACTA Astronautica, 1981, Vol. 8, No. 8, 703-718
3、郭吉丰，魏燕定，郭海训，邬锡中，空间挠性结构的振动控制，国家863十五年成果学术成果交流会，2000年12月12-14，北京，643-648
4、郭吉丰，陈维新，陈永校，柔性机械臂用压电驱动器实现精密定位控制的研究，机器人，1998，20(3)，192-197(EI检索)
5、郭吉丰，陈维新，林瑞光，空间单连杆柔性机械臂用压电驱动器的振动控制，空间站技术学术交流会论文集，国家高技术航天领域空间站技术专家组，1997年11月，280-284
6、魏燕定，郭吉丰，郭海训，智能梁压电致动器位置布置探讨，噪声与振动控制，2000，1，16-18
7、M. Natori, S. Ogura, S. Murohashi and F. Kuwao, Control of Truss Structures Using Member Actuators, Mech. System and Signal Processing, 1993, Vol. 7, No. 4, 321-333
8、阎绍泽，吴德隆等，用于自适应可展结构的压电式智能主动杆，清华大学学报(自然科学版)，2002，Vol．42，No．6，762-765
9、李俊宝，吕刚，智能桁架结构振动控制中压电主动构件的研究：(一)压电主动构件设计，压电与声光，1998，Vol．20，No．2，89-94
10、李俊宝，吕刚，智能桁架结构振动控制中压电主动构件的研究：(二)压电主动构件的实验，压电与声光，1998，Vol．20，N0．3，180-185
11、李俊宝，吕刚，智能桁架结构振动控制中压电主动构件的研究：(三)压电主动构件动力学建模，压电与声光，1998，Vol．20，No．4，237-241
12、李俊宝，张景绘，任勇生，张令弥。振动工程中智能结构的研究进展。力学进展，1999，29(2)，165-177
13、李传兵，廖昌荣等。压电智能结构的研究进展。压电与声光，2002，24
(1)，27-31
14、严蔚，刘承斌，王柏生等。新型高阻尼弹簧及其性能研究。振动与冲击，已录用。
15、周洋，陈大明。智能材料与结构在航空领域的研究进展。材料导报，2001，15(3)，28-29
16、侯旭东，张元冲。压电智能结构动力系统的伽辽金方法。上海力学，1998，19(4)，341-350
17、聂润兔，邵成勋。智能桁架机电耦合动力分析与振动控制。振动工程学报，1997，10(2)，119-124
18、Rogelio Luck, Emmanuel I. Agba. On the design of piezoelectric sensors and actuators. ISA TRANSACTIONS37 (1998), 65-72
19、芮小键，张幼桢。压电陶瓷微位移器的实验研究。航空学报，1995，16(3)，299-303
20、BRIJ N. AGRAWAL, M. ADNAN ELSHAFEI and GANGBING SONG .ADAPTIVE ANTENNA SHAPE CONTROL USING PIEZOELECTRIC ACTUATORS .Acta Astronautica ,1997,40(11),821-826
21、朱晓荣，陶宝棋，郑世杰，梁大开。压电固体作动筒的应用基础研究。压电与声光，2000，22(1)，19-22
22、孙慷，张福学。压电学(上)。北京：国防工业出版社，1994
23、杨生元，黄文浩。动态情形下压电介质中的机电耦合关系。研究通讯，1998，20(2)，122-123
24、John A. Main, Ephrahim Garcia, David V. Newton. Precision Position Control of Piezoelectric Actuators Using Charge Feedback. Journal of Guidance, Control, and Dynamics, 1995,18(5),1068-1073
25、R. Lammering, Jianhu Jia and C.A. Rogers. Optimal Placement of Piezoelectric Actuators In Adaptive Truss Structures. Journal of Sound and Vibration. 1994,171(1),67-85
26、M. Naillon, R.H. Coursant and F. Besnier. Analysis of piezoelectric structures by a finite element method. Acta Electronica, 1983,
25 (4), 341-362
27、W. Zhu, K. Yao, Z. Zhang. Design and fabrication of a novel piezoelectric multiplayer actuator by thick-film screen printing technology .Sensors and Actuators86(2000)149-153
28、Milan Mitrovie, Greg P. Carman, Friedrich K. Straub. Response of piezoelectric stack actuators under combined electro-mechanical loading. Iternational Journal of Solids and Structures 38(2001),4357-4374
29、R. Lammering. The application of a finite shell element for composites containing piezoelectric polymers in vibration control. Computers and Structures ,1991,41(5),1101-1109
30、Edward F. Crawley. Intelligent structures for aerospace:A technology overview and assessment. AIAA Journal, 1994,32(8),1689-1699
31、H. S. Tzou and C. I. Tseng. Distributed piezoelectric sensor/actuator design for dynamic measurement/control of distributed parameter systems:a piezoelectric finite element approach. Journal of Sound and Vibration, 1990,138(1),17-34
32、Sung Kyu Ha, Charles Keilers, and Fu-Kuo Chang. Finite element analysis of composite structures containing distributed piezoceramic sensors actuators. AIAA Journal, 1992,30(3),772-780
33、N.W. Hagood and A. Von Flotow. Damping of structural vibrations with piezoelectric materials and passive electrical networks. Journal of Sound and Vibration ,1991,146(2),243-268
34、A. Baz and S. Poh. Performance of an active control system with piezoelectric actuators. Journal of Sound and Vibration, 1988, 126 (2), 327-343
35、Edward F. Crawley and Javier de Luis. Use of piezoelectric actuators as elements of intelligent structures. AIAA Journal, 1987,25(10),
1373-1385
36、Woo-Seok Hwang and Hyun Chul Park. Finite element modeling of piezoelectric sensors and actuators. AIAA Journal, 1993,31(5),930-937
37、M.V. Donadon, S.F.M. Almeida, A.R. de Faria. Stiffening effects on the natural frequencies of laminated plates with piezoelectric actuators. Composites:Part B 33(2002)335-342
38、N. Yu. On overall properties of smart piezoelectric composites. Composites:Part B 30(1999)709-712
39、Ben K. Wada, Sam L. Venneri. Recent progress in adaptive structures for space. Acta Astronautica, 1997,40(2-8),85-94
40、H.S. Tzou. A new distributed sensor and actuator theory for "intelligent" shells. Journal of Sound and Vibration, 1992,153(2), 335-349
41、John A. Main and Ephrahim Garcia. Piezoelectric stack actuators and control system design:strategies and pitfalls. Journal of Guidance, Control, and Dynamics, 1997,20(3),479-485
42、H. S. Tzou and M. Gadre. Theoretical analysis of a multi-layered thin shell coupled with piezoelectric shell actuators for distributed vibration controls. Journal of Sound and Vibration ,1989,132(3), 433-450
43、王勖成，邵敏。有限单元基本原理和数值方法。北京：清华大学出版社，1996
44、田晓耕，沈亚鹏，张元冲，陈儒。压电堆在结构振动隔离中的应用。上海力学，1999，20(1)，43-48
45、张传忠。压电材料的发展及应用。压电与声光，1993，15(3)，64-70
46、田莳，徐永利。智能材料系统和结构中的压电材料。功能材料，1996，27(2)，103-109
47、董维杰，孙宝元，崔玉国，杨志欣。自感知执行器——传感器、执行器
集成新概念。压电与声光，2001，23(2)，120-123
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