Hysteresis modeling based on similarity

A principle of constructing hysteresis models with stable minor loops is proposed. It has been found that a modeled reversal curve of any order can be obtained by copying (transplanting) the segment of the first-order curve that has the same overall dimensions and is the nearest to the modeled curve in the M- (or B-) direction. It is discussed how models with different grades of accuracy can be implemented within the framework of the approach. For the case when experimental first-order curves are absent, a procedure for their generation is suggested. The modeling is in remarkably good agreement with experimental data     

基于迟滞观测器的压电堆补偿控制

压电堆具有反应速度快、能量密度高等特点被广泛应用于精密仪器的作动装置。然而,压电堆输出位移与驱动电压之间存在的迟滞效应会严重影响控制精度。为了补偿迟滞效应带来的影响,提升控制效果,提出了一种基于滑模变结构理论的类Luenberger迟滞观测器,观测器的设计不仅考虑到了模型中的不确定因素,还可在一定程度上减小外部扰动带来的影响。根据反步滑模控制理论设计了一个基于迟滞补偿系统的跟踪控制器,控制器在设计过程中考虑到了观测器的迟滞补偿误差,且具有一定的鲁棒性。通过仿真及试验验证,证明了所设计的控制系统能够良好地对压电堆实施跟踪控制,且控制效果优于传统控制器。     

Shock Resistance of a Disk-Drive Assembly Using Piezoelectric Actuators With Passive Damping

Current dual-stage actuator design uses piezoelectric patches only, without passive damping. In this paper, we propose a dual-stage servo system using enhanced active-passive hybrid piezoelectric actuators. Because they incorporate passive damping, the proposed actuators will improve the existing dual-stage actuators, giving them higher precision and better shock resistance. We report finite-element analyses of different types of piezoelectric actuators in a disk arm assembly under external shock and vibration. We modeled the viscoelastic damping layers in the hybrid actuators with the Prony series, whose parameters we determined from the dynamic frequency data of a nomograph. In the analyses, a shock impulse (175 g, 1 ms half sine) and a vibration impulse (350 g and 1 ms full sine) are applied at one end of the base, while the other end of the base is fixed. We evaluated and compared the responses of the disk arm assembly with different configurations of the piezoelectric actuators. The simulation results show that the enhanced active-passive hybrid actuator design would reduce the residual in-plane vibration induced during the shock, resist liftoff motion, and reduce the impact damage when the head slaps.     

A feasibility study of a post-buckled beam for actuating helicopter trailing edge flap

Active trailing edge flaps (TEFs) are one of the most promising devices for helicopter vibration reduction. Smart actuators such as the piezoelectric stack actuators (PEAs) are used for TEF actuation. PEAs possess high energy density and have large force in dynamic condition but are limited to small displacements. In this investigation, we study a linear to rotary motion amplification mechanism (AM-2) based on a pinned–pinned post-buckled beam to actuate trailing edge flaps. A linear motion amplification mechanism is developed and coupled with AM-2 to amplify angular flap deflections. Experiments are conducted on bench top-test setup, and maximum flap angle deflections of the order of 12° are achieved in the static case. An aeroelastic analysis is performed and 91 % reduction in helicopter vibration is obtained with multiharmonic control inputs.     

Dynamic Modeling of Soft Magnetic Film Actuated Scanners

Dynamic behavior of magnetic thin film actuators is investigated in detail and applied to various laser scanning applications. Magnetic hysteresis effects are incorporated into the model developed in the prior work, which assumes linear magnetization as a function of magnetic field and is based on the distributed point-by-point calculation of the magnetostatic moments and forces across the film surface. A simple functional form is used to model the major $Bhbox{–}H$ loop of ferromagnetic films. The model is validated with permalloy (Ni-Fe) plated polymer actuators. The actuators are excited using an external electro-coil and the structures deflect due to magnetic anisotropy torque. The ac deflection of the actuators is modeled by calculating the point-by-point moments on the magnetic film and the solution can handle nonuniform external field and unsaturated magnetic film cases. A 25 $^{circ}$ optical scan angle is demonstrated for laser scanning display and imaging applications with a nonoptimum coil. Scaling the model to MEMS devices is also discussed.      

压电倾斜镜迟滞非线性建模及逆补偿控制

自适应光学系统中的压电倾斜镜通常是用来实时校正大气湍流引起的波前畸变,但压电倾斜镜的响应都有较大的非线性迟滞效应,大大降低了倾斜镜的到位精度,并且影响系统稳定性,制约了倾斜校正系统的带宽,因此需要对迟滞现象进行建模,通过建立的模型进行补偿。本文通过引入迟滞算子,使用贝叶斯正则化训练算法训练BP神经网络来构建压电倾斜镜迟滞模型,以中国科学院光电技术研究所自主研制的压电倾斜镜为对象开展了实验研究。最后的实验结果表明,通过BP神经网络构建的压电倾斜镜迟滞模型具有较准确的辨识能力,其中,X方向的迟滞大小由6.5%降低到了1.3%,Y方向的迟滞大小由7.1%降低到了1.6%。     

Experimental investigation of selective localisation by decomposition of the time reversal operator and subspace-based technique

The approaches of the active time reversal (TR) selective localisation based on the decomposition of the time reversal operator (DORT) and the TR multiple signal classification (MUSIC) location are presented. The waveguide experiment describes in detail the procedure of active TR location and shows that (i) the extended target could have multiple distinguishable eigenstates, unlike point-like targets in which one target corresponds to one eigenstate; (ii) the selective location can be achieved by means of the standard TR location in the presence of the suspended and bottom objects; (iii) compared with the standard TR location, TR MUSIC location based on signal subspaces performs better in locating non-resolved targets and has lower sidelobe levels to locate the extended target. Finally, the approach of acquiring the TR operator via array probing by weighting Hadamard?Walsh functions (to produce orthogonal beams) is discussed. The experimental result shows that the ambiguity surfaces of the standard TR location and the TR MUSIC location are greatly improved with this approach.     

基于Preisach理论的形状记忆合金温度-位移迟滞仿真研究

摘 要：智能材料如形状记忆合金(Shape Memory Alloy,SMA)已经广泛应用于驱动器和传感器的设计,实现定位和主动控制目的。然而,受迟滞影响,SMA驱动器的工作精度大大降低,限制了其应用。多数智能材料中,选择Preisach理论成为迟滞建模工具,近年来,也涉及到SMA材料系统。本文,讨论运用Preisach模型描述SMA驱动器系统的迟滞行为,尤其针对驱动器系统的模型建立过程,修正经典Preisach模型的几何解释和数值实现方法。最后,引入Gobert给出的Preisach平面的辨识函数执行仿真计算,数值结果表明该模型能够很好地描述SMA驱动器的迟滞行为。     

压电宏纤维致动器的双极性非对称迟滞建模及补偿控制

提出了一种双极性非对称改进PI(Bipolar Asymmetric Improved PI,BAIPI)模型描述压电宏纤维(Marco Fi-ber Composite,MFC)的迟滞特性,BAIPI模型利用经典Prandtl-Ishlinskii(PI)迟滞模型Play算子加权叠加描述MFC的对称迟滞特性,然后叠加...     

压电作动器的迟滞非线性建模和实时补偿控制仿真

压电作动器的迟滞非线性不同程度的影响了作动器的性能,降低了系统的稳定性,甚至使得系统不稳定,尤其在振动主动控制应用中,要求系统具有极强的实时性,否则由于相位滞后控制效果将会受到严重影响.在研究了各种迟滞非线性模型和补偿算法的基础上,采用PI迟滞算子对压电作动器建立一个纯现象的模型来准确描述其迟滞现象,参数的线性不等式约束保证了求解的唯一性和模型的可逆性.在此基础上利用PI逆模型设计补偿器来补偿迟滞非线性.仿真结果证明了控制算法的正确性和有效性,并有效抑制了迟滞的影响,保证了理想的跟踪精度.     

A hysteresis model for a stacked-type piezoelectric actuator

The hysteresis nonlinearity in piezoelectric materials brings difficulties in controlling the systems. In order to mitigate the effect of hysteresis, such nonlinearity needs to be characterized and modeled under different load circumstances. For this purpose, the actuator is modeled in terms of a mass-spring-damper system utilizing the stop operator as one of the operators of the Prandtl-Ishlinskii (PI) model. Merging the structural model with the nonlinear hysteresis model, we observe that the results demonstrate better correspondence to the measured output compared to that of the classical PI model for a wide range of working conditions, i.e., different input frequency and amplitude.     

冷弯薄壁型钢组合墙体非线性滑移滞回模型研究

为了研究冷弯薄壁型钢组合墙体的滞回性能,对4 片3m×2.4m(高×宽)不同构造的冷弯薄壁型钢组合墙体足尺试件进行了拟静力试验。根据试验所得的滞回规律,采用Richard-Abbott 曲线,建立了能反映其滞回曲线非线性、滑移捏缩、强度和刚度退化特征的三段式非线性滑移滞回模型,并在Origin8.0软件里辨识了各试件模型中的待定参数。研究结果表明:影响滞回曲线的主要因素为墙体先前经历的最大位移;典型捏缩滞回环的上升或下降段曲线可分为刚度单调变化的三段;用参数辨识结果得到的仿真滞回曲线与试验滞回曲线吻合较好,三段式非线性滑移滞回模型能较全面地反映冷弯薄壁型钢结构组合墙体的滞回特征、模型表达式直观、各参数物理意义明确且易于识别。     

BiAlO3掺杂PZT陶瓷的高压电性能和低电场应变滞后

铅基压电陶瓷因其优异的压电性能, 被广泛应用于压电器件。其中, 压电驱动器要求压电陶瓷具有较高压电性能并且在电场下具有较高的电致应变和较小的应变滞后。本研究通过施主-受主共掺, 得到高压电性能和低电场应变滞后的PZT陶瓷。采用传统固相反应法制备了(1-x)(Pb_0.95Sr_0.05)(Zr₅₃Ti₄₇)O₃-xBiAlO₃+0.2%MnO₂陶瓷(掺杂量为质量百分数), 并对其微观结构和压电性能进行了研究。结果表明：BiAlO₃掺杂量较少时, 陶瓷中缺陷偶极子的“钉扎”效应使得陶瓷畴壁转动困难, 陶瓷压电性能较弱, 应变滞后也较小。随BiAlO₃掺杂量增加, 缺陷偶极子“钉扎”效应减弱, 陶瓷的压电性能和应变滞后随之提高。本实验得到的性能最优组分为x=1.75%, 该组份陶瓷的压电系数d₃₃=504 pC/N, 机电耦合系数k_p=0.71, 机械品质因数Q_m=281, 居里温度T_C=312 ℃, 在10 kV/cm电场下的应变滞后仅为15%, 并且还具有较好的温度稳定性, 是一种具有应用价值的压电驱动器用压电陶瓷材料。     

Ferroelectric and dielectric properties of nanocrystalline BiFeO3 multiferroic ceramics synthesized by solution combustion method (SCM)

Nanocrystalline multiferroic BiFeO₃ ceramics was prepared by a novel solution combustion method (SCM). The X-ray diffraction (XRD) studies on structural properties of the synthesized ceramics reveal that the BiFeO₃ ceramics has rhombhohedral perovskite structure with an average crystallite size of 15 nm. The ferroelectric P-E hysteresis loop measurement at room temperature shows unsaturated behavior with a partial reversal of polarization. Investigations on temperature dependence of dielectric constant in BiFeO₃ demonstrate a clear dielectric anomaly at approximately around 380 °C, which corresponds to antiferromagnetic to paramagnetic phase transition (TN) and also evidences a possible coupling among the electric and magnetic dipoles of BiFeO₃. A room temperature variation of dielectric constant “?” and dielectric loss “tan δ” as a function of frequency in the range of 100 Hz — 1 MHz, confirms that both dielectric constant and loss are strong functions of frequency.     

压电陶瓷微位移系统的变参数PID闭环控制方法

针对压电陶瓷器件在精密定位控制中存在的迟滞、蠕变和位移非线性等不足,本文采用压电陶瓷直接粘贴应变片组成测量电桥作为位置反馈环节,设计了带上下限位的变参数PID闭环控制微位移系统,达到了预期的控制精度和效果.     

Optimal placement of actuators and sensors in control-augmented structural optimization

A control-augmented structural synthesis methodology is presented in which actuator and sensor placement is treated in terms of (0, 1) variables. Structural member sizes and control variables are treated simultaneously as design variables. A multiobjective utopian approach is used to obtain a compromise solution for inherently conflicting objective functions such as structural mass, control effort and number of actuators. Constraints are imposed on natural frequencies, peak transient displacements and accelerations, peak actuator forces and dynamic stability as well as controllability and observability of the system. The combinatorial aspects of the mixed (0, 1)-continuous variable design optimization problem are made tractable by combining approximation concepts with branch and bound techniques. Some numerical results for example problems are presented to illustrate the efficacy of the design procedure set forth.     

Critical state magnetization of hard type-II superconductors with rectangular and cylindrical cross-sections

Magnetization loops in the critical state for the critical current density and are calculated. The geometry considered is an infinitely long superconductor with a finite cross-section in the shape of a rectangle or circle. Explicit formulas are derived for the various branches of the complete high-field hysteresis loop. In the discussion emphasis is put on the behavior of the width, δM, of the hysteresis loop, and a simple graphical method to fit model parameters to experimental data is outlined.     

钛酸铋钠基无铅铁电陶瓷场致应变性能研究

钛酸铋钠(Bi_0.5Na_0.5)TiO₃(BNT)作为典型的钙钛矿型弛豫铁电体, 具有超高的场致应变, 是最有希望代替铅基体系的无铅压电体系之一。与铅基陶瓷相比, BNT基陶瓷具有驱动电压较高、迟滞较大以及温度稳定性差等劣势。为了优化无铅驱动器的应变性能, 本研究采用固相反应法制备(1-x){0.76(Bi_0.5Na_0.5)TiO₃-0.24SrTiO₃}-xNaNbO₃(BNT- ST-xNN, x=0~0.03)无铅铁电陶瓷。结果表明, 当x=0.01时, 该陶瓷在较低电场(E=4 kV/mm)下的应变值可达到0.278%, 等效压电系数d^*₃₃高达695 pm/V。此时, 陶瓷处于非遍历/遍历弛豫相界处, 电场诱导弛豫-铁电相变导致大场致应变。与x=0.01相比, x=0.02时应变值为0.249%, 略微下降, 但迟滞却降低至43%。此外, 该应变在25~100 ℃温度范围内维持稳定。本研究表明, 在BNT基陶瓷中固溶SrTiO₃和NaNbO₃组元可以提高场致应变值, 同时维持较低的驱动电场和良好的温度稳定性, 可用于压电驱动器研制。     

Nonlocal hysteresis function identification and compensation with neural networks

This paper discusses the on-line identification of nonlocal static hysteresis functions, which are encountered in mechanical friction, magnetic materials, and piezoelectric actuators and cause problems in the design of controllers. In this article a new compensation method for friction in presliding regime is introduced that is based on the simplified Leuven Friction Model and on technology borrowed from neural networks. We present a solution how to identify the hysteresis caused by the friction and how to use this identified model for the compensation of the friction effects. The solution can be used for on-line identification and compensation. Results from both simulations and experiments will be shown.     

Hysteresis of the current-voltage characteristics and electric field effects in bulk YBCO superconductors

Some YBCO ceramics have been found to exhibit hysteresis of the current/voltage, I/V, characteristics, which reveals at a certain current I_f greater than critical current I_c a transition with switch from one branch of the I/V curve to another. In present work, the influence of an electric field at 77 K on hysteresis of I/V curves of ceramic YBCO/Ag and YBCO after hydrogen treatment has been studied. It was established that in strong electric field (120 MV/m) the conductivity increases at current I>I_c, the field effect being observed only in the upper branch of hysteresis loop. The electric field effect in YBCO after hydrogen treatment is reversible. The observed effects are assumed to be associated with a change of grain boundary weak links from S/I/S-to S/N/S-type in the course of hydrogen treatment or addition of silver into ceramics.