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研究了SMA弹簧集群的驱动控制与动态特性。在分析生物骨骼肌微观结构特性的基础上,建立了3行5列的阵列结构SMA弹簧集群及驱动控制实验平台。基于数理统计理论,建立了SMA弹簧集群驱动开关控制方法,利用ADAMS软件对SMA致动器集群的位移和力特性进行了仿真分析。设计了基于PLC的集群控制硬件平台,利用组态王软件建立了集群控制图形用户界面,给出了SMA弹簧集群的激活控制法则,获得了SMA弹簧集群的张力时间历程,在此基础上研究了不同的SMA弹簧激活组合对输出力特性的影响。实验表明,SMA致动器集群存在严重的耦合特性。最后讨论了致动器集群输出力的振荡特性及振荡消除方法。 相似文献
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电控喷油器用致动器的性能,对喷油器喷油特性以及发动机工作性能具有重大影响。探讨了应用超磁致伸缩材料作为换能元件的超磁致伸缩致动器在电控喷油器中的应用现状。首先,介绍了超磁致伸缩致动器的发展背景;其次,简要介绍了超磁致伸缩材料的作用机理、优良特性以及超磁致伸缩致动器的结构原理;然后,将电控喷油器按照致动器通电工作方式、驱动方式的不同进行分类,系统梳理了超磁致伸缩致动器应用于电控喷油器的研究现状;最后,展望了电控喷油器用致动器的发展方向。 相似文献
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提出了超磁致伸缩棒内部平均磁场计算方法,结合动态J-A模型以及线圈阻抗公式得到了超磁致伸缩致动器的能耗特性。分析了超磁致伸缩棒能耗、线圈能耗以及超磁致伸缩致动器总能耗随频率的变化趋势。分析结果表明,超磁致伸缩棒以及线圈能耗均随着频率的增大而增大,而且超磁致伸缩棒能耗占超磁致伸缩致动器总能耗的比例会随着频率的增大而增大。计算了油冷条件下超磁致伸缩棒的表面温度,计算结果与实验结果较为吻合,证明了能耗模型的正确性。分析过程及方法为超磁致伸缩致动器的设计和控制提供了有益的参考。 相似文献
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致动器/传感器的优化配置问题是智能柔性结构振动主动控制中的关键技术问题,基于模态空间H_2范数研究了智能柔性梁系统中压电致动器/传感器的优化配置问题。根据Rayleigh-Ritz理论建立了系统的动力学方程并得到其状态空间表达式。提出了一种衡量系统能控/能观性并考虑模态权重的综合模态H_2范数准则,采用改进遗传算法研究系统中并置致动器/传感器的优化配置问题,得到了系统多个模态、综合模态H_2范数最优的致动器/传感器布局结果。实验结果表明,利用优化结果进行致动器/传感器的布局,系统单个模态和综合模态均具有较好的检测和控制效果,被控模态具有较好的能控/能观性,所提出的优化准则和优化方法是可行的。 相似文献
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智能杆致动器优化配置及扭振主动控制试验 总被引:1,自引:1,他引:0
针对智能杆系统中压电扭转致动器的优化配置问题,提出了一种由柔性薄壁杆、压电扭转致动器和电阻应变片传感器组成的智能杆系统,对智能杆的扭转振动进行了理论与试验研究。采用拉格朗日方程和假设模态法推导了智能杆系统的动力学方程,建立了系统的状态空间表达式。选取控制器的最小输入能量作为致动器位置配置的优化准则,运用遗传算法获得了压电扭转致动器的最佳配置位置,并构建了试验系统。试验结果表明,获得的最优位置是合理的,将致动器配置在最优位置并实施相应的应变反馈控制,控制器的输入能量最小,智能杆的扭转振动能得到有效抑制。 相似文献
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为克服传统带有偏置装置形状记忆合金驱动器结构复杂、响应速度慢的缺点,利用形状记忆合金(Shape memory alloy,SMA)的单程形状记忆效应,设计并制造一种不带偏置装置且可实现双程运动的线性驱动器,该驱动器由两根形状记忆合金丝、滑轮、部件、导轨、支座及固定螺钉组成。接着基于Brinson一维本构方程及转换方程,推导出两根SMA丝在不同条件下的应变表达式;提出将马氏体相变应力看作体力,分析温度变化与驱动器位移的关系及外载荷变化对驱动器最大位移的影响。对计算结果进行试验验证,结果表明,所设计驱动器可实现往复双程运动;随着SMA丝温度的升高所获得的位移呈非线性增大,当温度超过奥氏体转变结束温度Af,位移达到最大,而初始化过程获得的最大位移为正常运动的一半;增大载荷,驱动器的最大位移逐渐减小,当载荷达到51.0 N时,驱动器停止运动,即位移减小为零。 相似文献
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在直线型内嵌式形状记忆和合金驱动器(ESMAA)的研究基础上,提出了弯曲型ESMAA结构。该驱动器工艺简单,循环寿命更长,运行可靠性更高。通过温控方式可实现驱动器的往复可逆弯曲运动,对外稳定输出力和位移。本文建立了驱动器的变形理论,结合实验结果,对丝半径、丝的预变形量和棒半径进行了优化设计,得出了这一驱动器设计的规律性结论。 相似文献
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One way shape memory effect (SME) is not sufficient in the application of the automatic repeated actuation of the SMA wire
because the actuator using SME cannot return to its initial shape after it cools down. In the present study, the two-way SME
under residual stress is considered. An actuator using the two-way effect of SMA returns to its initial shape by increasing
or decreasing the temperature of SMA under initial residual stress. Using the two-way effect, we manufactured a simple smart
wing actuator which consists of the SMA wire and a torsional spring to induce variable residual stresses. The SMA wire after
the specific training procedure in order for the actuator to be used for the repeated actuations without performance deteriorations
in the specified actuation requirements was used. The simple smart wing actuator has been tested for repeated actuations in
still-air as an environmental thermal condition for the practical aspect of its usage. The characteristics of actuator behavior
according to operation thermal cycle duration time, i.e., the response characteristics for rapid actuation were investigated.
By the application of the simple smart wing actuator using the SMA wire, SMA shows novel performance in repeated actuations. 相似文献
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在智能结构的驱动系统研究中,形状记忆合金(SMA)以其独特的力学性能倍受关注。将含有预拉伸变形的SMA丝与薄壁圆管复合,能够构成具有扭转变形输出或转矩输出功能的驱动器,为飞行器翼面操纵系统等提供新的设计思路。在SMA扭力驱动器中,SMA丝的缠绕角是影响驱动器驱动能力的一个重要参数。针对缠绕角分别为40°、45°、55°、60°和75°的一组驱动器,采用试验手段,获得了自由状态、完全约束状态和弹性约束等三种状态下,上述驱动器的温度-缠绕角-扭转角(或转矩)等多组关系曲线,得到了当缠绕角为60°时,驱动器有最大扭转角和最大转矩的试验结果。研究结果对深入探索SMA扭力驱动器的力学模型和驱动器结构参数的优化具有重要的参考价值。 相似文献
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An elemental SMA actuator, consisting of an elastic rod with two embedded SMA wires, is presented. The recovering wire w1,
with remembered ‘U’ shape, is located along the rod’s axis. The restoring wire w2, with memorized straight shape, is located in parallel with the rod’ axis with an offset distance d
1. Two strain gauges, arranged in complemental configuration and sticking to the rod, are used to implement accurate displacement
control. Upon the elicitation of the structure of a human being’s hands, a finger with multi-units is proposed. The finger
has two flexible rods with embedded SMA wires and one shorter rod as a connecting part. The number and position of fingers
are investigated by making use of a nonlinear plan process with an index W, a function of grasp matrix G. The hardware of the drive and control system of the gripper has been completed on the base of a DSP chip. After the track
plan is realized in the joint space through B spline interpolation method, the software of the position control system is
fulfilled through two-staged slide control strategy. The simulations and experiments of step response of the SMA actuator
are carried out. It is shown in the experiments that the maximum angle between ends’ tangents of each finger is 68.5, 79 and
79 degrees, respectively, and the tip of each finger could reach its final position by using approximately the same time period. 相似文献
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A new structure of Entirely-integrated Spatial-bending Shape Memory Alloy Actuators (ESSMAA) is first presented. Three SMA
wires, which are trained to remember “U” recovery shape, are embedded in liquid silicone rubber to be solidified upon room
temperature, companied with displacement sensors and connective wires. The Spatial bending, which is accomplished through
heating SMA wires by suitable current, can restore flexibly as soon as stopping heating. Thus, the compact, two-way, mechanical
and electrical incorporation actuator is completed. Be provided with the merits such as high load-weight ratio, low energy
dissipation and direct driving, the actuators can realize miniature configuration, simple drive and control, precise operation
and flexible movement pose synthetically. On the basis of expounding the operation principle in detail, the curvature sensor,
which is composed of six stain gauges, makes displacement control precise. After analyzing equilibrium of forces and moments,
the numeric calculation equations are deduced. Subsequently, the approximate arithmetic making use of superpose principle
is researched in contrast with numeric arithmetic. The manufacture of the prototype is discussed in details and the precise
displacement control is implemented also. Finally, the experimente of the actuator proof fine qualities of the operation performances. 相似文献
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由形状记忆合金构成的结构简单、控制灵活、功率密度大的电动机,在轻型机器人及小型化系统中具有独特的技术优势。然而,几乎所有现行结构中,致动元件和偏动元件都是分离的,驱动单元和执行单元也彼此独立,不但机构复杂,就是手指的张合动作也很不连贯,更无仿生柔顺性可言。因此,研制了新型内嵌式记忆合金驱动器。该驱动器由内嵌弯曲回复记忆合金丝的硅胶棒组成,通过温度循环方式稳定输出力和位移。建立了驱动器的变形理论,得出了驱动与控制的规律性结论。进一步利用多台驱动器研制了组合式柔性机械手,探讨了多指手的运动学问题。最后,完成了组合式三指柔性机械手爪抓取演示系统的设计制作和试验研究。 相似文献