柔性板压电作动器的优化位置与主动控制实验研究

对柔性悬臂板主动控制中作动器的优化位置进行研究,其中作动器采用压电形式,优化算法采用粒子群方法,指标函数采用基于能量的可控Gramian优化配置准则。仿真和实验结果显示,粒子群优化算法能够有效地对作动器的优化位置进行计算,尤其适用于多个作动器的位置优化问题,基于作动器最优位置的控制设计能够取得良好的控制效果。     

结构地震响应控制的优化方法

针对大跨空间结构地震响应主动控制,以超磁致伸缩材料为核心元件设计了一种可以应用于大跨空间结构振动主动控制中的超磁致伸缩作动器,制作出了作动器的原型并对其进行了输出性能测试。使用遗传算法对大跨空间结构主动控制作动器的布置位置进行了优化设计,最后进行了优化效果的数值模拟分析。以此验证了超磁致伸缩作动器具有良好的作动效应,利用遗传算法在大大提高结构主动控制优化设计效率时,可以保证实现对结构的整体优化以及作动器能高效、经济地实现对结构进行主动控制的目的。     

直升机结构响应主动控制试验研究

直升机飞机中机体的振动水平是所有飞行器中最为严重的，必须采取振动控制措施，而结构应主动控制是目前被公认为能大幅度降低机体振动水平的，具有实用价值的减振新技术，本文综述在直升机结构响应主动控制实验室内试验研究中的几项主工工作，包括作动器形式的选取与伺服液压式惯性型作动器的研制，多通道控制中收敛因子的确定，以及多通道控制的试验研究，研究结果证实作者研制的作动器与测控系统能实现有效的减振。     

基于可控性柱面网壳结构主动控制作动器布置的优化研究

利用磁致伸缩材料的磁控特性制作的作动器可以对结构进行主动控制。首先分析了这种作动器的工作原理和设计方法,并通过实验对其进行了输出性能测试。接着在对作动器进行动力学建模的基础上,推导出整个柱面网壳结构的作动控制方程,同时基于作动效率,提出了不依赖于控制方法的位置优化准则,并且在综合考虑控制效果系数、硬件成本和系统复杂性等因素的基础上,初步确定了作动器的数量,然后采用遗传算法,对作动器的布置位置进行了优化。最后利用LQR主动控制算法,对一柱面网壳模型结构进行了主动控制分析。结果表明,通过优化布置的作动器能够有效地减小结构的动力反应,是一种较好的主动控制方法。此外,主动控制模拟结果也验证了应用遗传算法优化此类问题的优越性和可靠性。     

有源控制解耦中压电作动器位置优化

研究基于声辐射模态理论进行有源控制解耦中压电作动器的位置优化问题。以往的研究得出：只要四组作动器满足某种对称形式布置,就可以实现声辐射模态的有源控制解耦,但是满足对称性布置的四组作动器位置有无数个。在主动控制中,压电作动器的位置如何布置一直是个难题。论文以输入控制功率最小化为目标,对四组压电作动器的位置进行了优化。     

遗传算法在结构振动主动控制中的应用研究

基于遗传算法，对简支梁振动主动控制的传感器/作动器位置优化问题，提出了一种以结构总储能量小为优化目标的数学模型，并编制了遗传算法软件包Ga205对此模型进行优化计算，结果表明，较之穷举法，用遗传算法解决感器/作动器进行位置优化问题是高效的，同时也是全局收敛的。     

多线谱振动噪声主动控制中误差传感器的优化配置

针对振动主动控制中的误差传感策略问题,改进了现有的传感器优化算法,求解过程采用整数编码和混合编码的遗传算法,在保证整体减振效果基本不变的前提下减少传感器数目并优化其位置,使整个控制系统的规模得到了降低。同时为了消除多通道主动控制时各通道之间的耦合作用,采用Fx LMS算法,在浮筏到舱段振动传递途径中安装了4台液压作动器,误差信号同时作为每个作动器的反馈信号,结合提出的误差传感优化策略,对多个激励频率的主动隔振进行了详细的实验研究。实验结果表明,对舱段结构上优选出来的4个误差点进行有效控制后,舱段结构上22个误差点的全局减振效果基本不变,且10个监测用传声器的声压得到了有效的抑制。     

直升机结构响应主动控制中传感器优选问题研究

针对直升机结构响应主动振动控制问题,本文提出了一种传感器优选方法,该方法能够在不减少待减振点数目的前提下,减少传感器数目并优化其位置,且保证系统全局减振效果基本不变,从而有效降低了整个控制系统的控制规模。优化过程采用遗传算法进行求解。以Z11直升机为例对该方法的有效性进行了验证。结果分析表明,利用该优选方法,能够得到传感器数目最少,且全局减振效果降低有限的传感器最优布置方案     

振动主动控制中传感器与作动器参数的优化设计

本文分析了文献[5]中方法的不足,提出了梁式结构振动主动控制中同时优化系统极点和传感器/作动器位置的联合优化设计法,指出传感器/作动器最优位置不仅与受控结构的模态频率和振型有关,还与系统的极点位置有关.对于最低阶模态频率较低(小于1.0 rad/s)的受控结构的主动控制系统不宜采用加速度传感器.     

结构主动控制的一体化多目标优化研究

基于Pareto多目标遗传算法提出了结构主动控制系统的一体化多目标优化设计方法,对作动器位置与主动控制器进行同步优化设计.外界激励采用平稳过滤白噪声来模拟,在状态空间下通过求解Lyapunov方程,得到结构响应和主动控制力的均方值.主动控制器采用LQG控制算法来进行设计.以结构位移和加速度均方值最大值与相应无控响应均方值的最大值之比,以及所需控制力均方值之和作为多目标同步优化的目标函数.优化过程还考虑了结构与激励参数对优化结果的影响.最后以某6层平面框架有限元模型为例进行了计算机仿真分析,结果表明所提出的主动控制系统多目标一体化优化方法简单,高效,实用,具有较好的普适性.     

Hardware Sequencing of Inflatable Nonlinear Actuators for Autonomous Soft Robots

Soft robots are an interesting alternative for classic rigid robots in applications requiring interaction with organisms or delicate objects. Elastic in?atable actuators are one of the preferred actuation mechanisms for soft robots since they are intrinsically safe and soft. However, these pneumatic actuators each require a dedicated pressure supply and valve to drive and control their actuation sequence. Because of the relatively large size of pressure supplies and valves compared to electrical leads and electronic controllers, tethering pneumatic soft robots with multiple degrees of freedom is bulky and unpractical. Here, a new approach is described to embed hardware intelligence in soft robots where multiple actuators are attached to the same pressure supply, and their actuation sequence is programmed by the interaction between nonlinear actuators and passive ?ow restrictions. How to model this hardware sequencing is discussed, and it is demonstrated on an 8‐degree‐of‐freedom walking robot where each limb comprises two actuators with a sequence embedded in their hardware. The robot is able to carry pay loads of 800 g in addition to its own weight and is able to walk at travel speeds of 3 body lengths per minute, without the need for complex on‐board valves or bulky tethers.     

Fabrication and actuation of ionic polymer metal composites patterned by combining electroplating with electroless plating

The novel fabrication technique that patterns the multiple electrodes of the ionic polymer metal composite actuators was developed to mimic the swimming and flapping locomotion of a living thing. The developed method is to combine electroplating with the electroless chemical reduction using the patterned mask. The advantages of this fabrication method are that the initial compositing between the polymer and platinum particles can be assured by the chemical reduction method, and the thickness of each electrode can be controlled easily and rapidly by electroplating. By using the fabricated actuator with a multiple degree of freedom, the oscillatory and undulatory waves of the flexible membrane actuator was generated and a twisting motion was also realized to verify the possibility of mimicking the fish-like locomotion. Present results show that this novel method combining electroplating with electroless plating can be a promising technique to easily pattern multiple electrodes and to implement the biomimetic motion of the polymer actuators with good mechanical bending performance.     

含压电作动器和传感器的复合材料层板静变形有限元分析和形状控制研究

本文研究了含压电作动器和传感器层的复合材料层板理论，建立了位移和电自由度的四节点有限元素，利用总势能最小原理推导了静力平衡方程，实现和验证了含压电作动器／传感器复合材料层板静态分析有限元程序。并对该类复合材料层板进行了形状控制研究。     

AN EXPERIMENTAL STUDY OF THE STRIP CASTING PROCESS OF ALUMINUM ALLOY BY THE TWIN ROLL METHOD

Experimental studies on the twin roll casting process in order to produce thin aluminum alloy strips are presented in this paper. A new twin roll caster was developed as an effective experimental tool. The caster is equipped with a complete casting system incorporating a control and measuring system using multiple sensors and various actuators. The data acquisition system of the caster can measure various process parameters including meniscus, casting speed, and temperature as well as roll gap and pressure. With this system, aluminum alloy thin strips were manufactured and the process parameters such as strip temperature, casting velocity, and pressing force of roll were investigated. Furthermore, the crystallizability, microstructure, and mechanical properties of the strip are evaluated by X-ray diffractometer, scanning electron microscope, and tensile test. The results revealed the ability of the twin roll caster to produce directly the thin strip of aluminum alloy with improved mechanical strength.     

自适应天线结构位移最优控制

为保证大型天线结构的形状精度,传统的方法是使结构具有足够的刚度。当采用自适应结构控制天线形变规律的时候,可以大大降低结构的重量并使结构具有更高的形状精度。针对嵌入压电作动器的自适应抛物面天线结构,建立了以天线反射面最佳吻合抛物面的精度和作动器能耗为综合目标的多目标优化控制模型,模型以结构强度和作动器性态作为约束条件,并用线性加权和法转化为单目标二次规划问题。算例表明,可以用较少的作动器,实现大型天线结构的高精度控制。     

DESIGN OF STRUCTURE CONTROL SYSTEM USING BOUNDED LQG

An approach for designing a structure and its control system for vibration suppression is presented. The control system is based on the Linear Quadratic Gaussian (LQG) and is modified to allow bounds on the actuators forces to simulate real actuators. The simultaneous design of the structure and control problem is formulated as a nonlinear optimization problem. The system is designed for minimum weight where the weight includes both the weight of the structure and the weight of the actuators. The weight of an actuator is assumed to be proportional to the bound on the maximum force that it can supply. The design variables include the cross-sectional areas of the structural members and the bounds on the actuator forces. The constraints are imposed on the closed loop frequency distribution and the time to reduce the energy of vibration to a small portion of the initial vibrational energy of the system. The structure is analyzed using a finite element approach. For illustration of the design approach, a truss structure idealized with rod elements is used.     

基于增益调度的结构振动分布式反馈控制

使用多传感器和驱动器控制简支板的振动.传感器和驱动器局部连接组成独立的闭环.在仿真中分别采用了点力驱动器和压电陶瓷驱动器.以极小化系统的总动能为目标,使用同步扰动方法对结构振动的分布式反馈增益进行最优调度.仿真结果表明,所提出的方法可以有效地抑制结构振动.     

On the elastic wave propagation induced by a network of piezoelectric actuators

Summary.  This paper provides a comprehensive analysis of the two-dimensional wave propagation in an elastic medium induced by embedded multiple piezoceramic actuators. Based on a new actuator model, which involves the deformation in both the transverse and longitudinal directions of the actuator, the actuation process and the dynamic load transfer between multiple actuators and the host medium is studied. The formulation of the problem is established using the analytical solution of the single actuator problem and a pseudo-incident wave method. Detailed numerical simulation is conducted to study the electroelastic behavior of this composite system. Attention is focussed on the properties of generated waveforms for different actuator arrangements. Received March 5, 2002; revised July 24, 2002 Published online: January 16, 2003     

晶体结构对压电陶瓷微位移驱动器特性的影响

对钙钛矿结构的ＰＺＴ－５和钨青铜结构的ＰＢＮＮ二种压电陶瓷制成的压电微位移器进行了电压－位移特性的比较和分析，发现我们所研制的ＰＢＮＮ压电微位移器具有线性好、回零好、等优点。