移动质量激励悬臂梁振动主动控制系统

利用压电材料的正逆压电效应,实现了移动质量激励悬臂梁振动主动控制;建立了压电元传感方程和作动方程,进一步将其转化为状态空间模型中的状态方程和输出方程;设计了基于线性二次型最优控制(LQR)策略的振动主动控制器,以TMS320VC33 DSP芯片为核心组建了相应的硬件电路。实验结果表明:采用压电自感作动器可很好地抑制移动质量激励引起的悬臂梁振动。     

等强度梁式压电振动能量收集器特性研究

为了提高微型悬臂梁式压电振动能量收集器的压电材料利用率,增强其能量转换效率,基于等强度梁理论设计了一种微型压电式振动能量收集器.分析了该能量收集器的力学特性及机电耦合特性,并且与等截面悬臂梁式振动能量收集器进行了对比.研究结果表明:微型等强度梁式压电振动能量收集器的固有频率低、表面应力分布合理、压电材料利用率高、能量输出密度大,其性能明显优于等截面梁式压电振动能量收集器.     

双晶片悬臂梁式压电传感器的有限元仿真研究

压电传感器作为一种便捷、高效的传感器类型,越来越受到人们的青睐.为研究压电传感器机电耦合能力,将压电高聚物聚偏氟乙烯(PVDF)黏结而成的压电双晶片悬臂梁作为研究对象,利用有限元分析软件ANSYS Workbench,首先完成对模型的构建和模态分析,得出模型的固有频率和固有振型,再建立压电材料的压电本构方程,对压电双晶片悬臂梁模型发电量进行模拟仿真,最后将仿真结果与前人研究结果相对比.分析得出:在10 mm的形变量下,能够产生最大320 V左右的瞬时电压,这与前人的研究结果相近,验证了仿真结果的准确性,同时也证实了压电双晶片悬臂梁作为压电传感器的可行性.     

柔性智能结构的振动主动控制仿真和实验研究

基于模态坐标表示的含压电片结构横向振动系统方程,采用独立模态法直接针对系统的高阶模型设计控制律,利用劳斯判据证明由所设计的控制器引起的控制溢出可被有效抑制,极大地降低了由于模型降阶引起的误差。同时,对压电柔性悬臂梁的高阶振动模态进行主动控制仿真模拟和实验研究,结果表明施加主动控制后柔性悬臂梁的模态阻尼显著提高,受控悬臂梁的振动得到了快速抑制。仿真计算和实验结果取得了良好的一致性。研究结果表明,利用压电陶瓷作为驱动元件,采用独立模态控制法实现柔性结构的振动抑制是一种高效的振动主动控制方法,在航天航空等领域中     

双晶压电悬臂梁俘能器的建模与仿真

针对双晶片悬臂梁式压电俘能器的优化问题,考虑悬臂梁末端位移与质量块质心位移的差异,对Roundy数学模型进行了修正.通过ANSYS有限元软件对俘能器建模并进行模态分析和谐响应分析,当质量块长度逐渐变大时,修正后数学模型对俘能器一阶固有频率和输出电压有更好的预测精度.研究了质量块形状和负载对俘能器输出特性的影响规律,发现在质量块质量不变时,提高质量块的质心高度能提高俘能器的发电能力,对俘能器的结构优化具有借鉴意义.     

Micron-scale polymer-metal cantilever actuators fabricated by focused ion beam

Polymer-metal microcantilever actuators have been fabricated using an innovative approach based on focused ion beam micromachining technology. The fabrication involves depositing a thin metal film onto the surface of the polymer and machining using the ion beam. The microcantilever created is then extracted and transferred to a desirable support using a micromanipulator. This approach demonstrates the potential for maskless and resistless prototyping of cantilevers that can be evaluated for use as MEMS/NEMS actuators. Nanometer-scale displacement of the resulting polystyrene-platinum bimorph microactuator with respect to temperature change is demonstrated via visual monitoring in a scanning electron microscope with a heating stage. The performance of the bimorph cantilever microactuators is verified using both analytical and finite element modeling.     

On‐off iterative adaptive controller for low‐power micro‐robotic step regulation

A novel model‐free iterative adaptive controller is presented for low‐power control of piezoelectric actuators. The controller uses simple adaptation rules based on known general behavior of piezoelectric actuators to adjust on‐off switching times to drive piezoelectric actuators through a desired transient step motion. Adaptation rules are based on small numbers of measurements taken during each iteration of the actuator movement. Combined with the use of only on‐off control inputs, controller implementation can be possible at much lower overall power levels than would be needed to implement a conventional control strategy such as through pulse‐width‐modulation (PWM) with real‐time feedback. Such power savings are particularly important for the intended controller application to piezoelectric microactuators driving autonomous terrestrial micro‐robots. A method for predicting convergence of systems with nominally linear dynamics and unknown, bounded nonlinearities is described, and applied to a sample target piezoelectric actuator. The controller is tested in simulation and experimentally on a piezoelectric cantilever actuator, and shows predicted convergence to the desired response. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

双晶悬臂梁式压电换能器建模与结构参数分析

针对如何提高悬臂梁压电发电效率的问题,通过对压电换能器进行力学分析并建立了一个电路等效模型,从而得到了悬臂梁谐振角振频率和输出功率的计算公式。通过代入数值进行计算仿真得出结构参数对输出功率的影响的曲线。通过分析得出:在设计悬臂梁的结构参数时尽量在结构强度允许的条件下选择更重的附加质量块,电极长度和梁的长度比值为0.8,压电陶瓷和金属层厚度比为0.25,能提高换能效率等结论。     

悬臂梁参数辨识及PD控制器的设计

首先介绍了用一种实验方法辨识悬臂梁的参数,建立其数学模型。然后基于此模型,利用控制理论并结合Matlab仿真设计了PD控制器。在Matlab中对基于PD控制器的控制系统进行仿真,获得了很好的仿真结果。用实时仿真系统dSPACE实现仿真模型与硬件装置的连接,利用压电陶瓷作为传感器和驱动器,建立了实验系统。实验结果表明,建立的数学模型比较接近实际的悬臂梁对象,设计的PD控制器能较好地抑制悬臂梁的振动。     

单侧限位悬臂梁碰撞系统的动力学实验研究

对构造的单边碰撞悬臂梁系统进行实验的定性研究,在基础激励实验中,变换多次激励频率,通过加速度传感器测量悬臂梁测点的响应信号,并通过力传感器测量得到限位器与柔性悬臂梁之间的碰撞力.通过Matlab软件对实测响应的时、频域分析处理,观察到系统复杂的周期、概周期、混沌等多种运动形式,并发现其中运动形式变化的区间存在突变.尝试对实验时域数据计算最大Lyapunov指数,以进一步验证其中混沌的存在,进一步发现了混沌响应下末端加速度响应与碰撞力的传递函数具有频响函数特征.实验研究体现了非线性动力学现象,也对分析应用混沌运动的实验结果提供了一个新视角.     

FAULT TOLERANT CONTROL OF FLEXIBLE SMART STRUCTURES USING ROBUST DECENTRALIZED FAST OUTPUT SAMPLING FEEDBACK TECHNIQUE

This paper presents the modeling, design and simulation of a Robust Decentralized Fast Output Sampling (RDFOS) feedback controller for the vibration control of a smart structure (flexible cantilever beam) when there is actuator failure. The beam is divided into 8 finite elements and the sensors / actuators are placed at finite element positions 2, 4, 6, and 8 as collocated pairs. The smart structure is modeled using the concepts of piezoelectric theory, Euler‐Bernoulli beam theory, Finite Element Method (FEM) techniques and the state space techniques. Four multi‐variable state‐space models of the smart structure plant are obtained when there is a failure of one of the four actuators to function. The effect of failure of one of the piezo actuators to function during the vibration of the beam is observed. The tip displacements, open and closed loop responses with and without the controller are observed. For all of these models, a common stabilizing state feedback gain F is obtained. A robust decentralized fast output sampling feedback gain L which realizes this state feedback gain is obtained using the LMI approach. In this designed control law, the control inputs to each actuator of the multi‐model representation of the smart structure is a function of the output of that corresponding sensor only and the gain matrix has got all off‐diagonal terms zero and this makes the control design a robust decentralized one. Then, the performance of the designed smart system is evaluated for Active Vibration Control (AVC). The robust decentralized FOS controller obtained by the designed method requires only constant gains and hence may be easier to implement in real time.     

Free vibrational analysis of axially loaded bending-torsion coupled beams: a dynamic finite element

In this article, a dynamic finite element formulation for the free vibration analysis of axially loaded bending-torsion coupled beams is presented. Based on the Euler–Bernoulli and St. Venant beam theories, the exact solutions of the differential equations governing the uncoupled vibrations of an axially loaded uniform beam are found. Then, employing these solutions as basis functions, the analytical expressions for uncoupled bending and torsional dynamic shape functions are derived. Exploiting the principle of virtual work, together with the variable approximations based on the resulting shape functions, leads to a single frequency dependent element matrix which has both mass and stiffness properties. The application of the theory is demonstrated by an illustrative example of a bending-torsion coupled beam with cantilever end conditions, for which the influence of axial force on the natural frequencies is studied. The correctness of the theory is confirmed by the published results and numerical checks.     

采煤机无线监测装置压电换能元件参数匹配分析

考虑到压电自供电装置中压电振子的几何参数直接影响其共振频率,从而影响压电自供电装置的发电量,因此需要根据环境激励频率设定最佳的压电振子的几何参数,对基于压电自供电的采煤机状态无线监测装置进行研究,通过理论分析、仿真以及实验方法对对不同悬臂梁结构在不同外界激励作用下的发电量进行研究.研究结果表明:悬臂梁自由端的质量块质量以及悬臂梁长度越大,悬臂梁压电结构的固有频率越低;随着悬臂梁厚度的增加,悬臂梁压电结构的固有频率逐渐增大.以此为依据对采煤机不同监测位置的装置选取最佳匹配的压电结构几何参数,并通过采煤机工作状态监测实验验证了本文研究的压电自供电无线监测装置的可行性.     

Analytical and numerical modelling of AlGaN/GaN/AlN heterostructure based cantilevers for mechanical sensing in harsh environments

Some industrial areas as oil, automotive and aerospace industries, require electromechanical systems working in harsh environments. An elegant solution is to use III-V materials alloys having semiconductor, piezoelectric and pyroelectric properties. These materials, particularly nitrides such as GaN or AlN, enable design of advanced devices suitable for harsh environment. A cantilever structure based on AlGaN/GaN/AlN heterostructures coupled with a High Electron Mobility Transistor (HEMT) can act as an electromechanical device suited for sensing applications. In this article, we present the mechanical modelling of such a structure. An analytical and a numerical model have been developed to obtain the electrical charge distribution in the structure in response to mechanical stress. A theoretical electromechanical sensitivity of 3.5 μC m⁻² was achieved for the cantilever free end displacement of several hundreds of nanometres. Both models show good agreement, presenting less than 5% deviation in almost the whole structure. The differences between the two models that are pronounced near the clamped area can be explained by particular boundary conditions of the numerical model. The topological characterization and numerical modelling allowed the estimation of the equivalent intrinsic residual stress in the structure and the stress distribution within each layer. Finally, the dynamic mechanical characterization of fabricated cantilevers using laser interferometry is presented and compared to numerical modal analysis with less than 10% deviation between theoretical and experimental resonant frequencies. The obtained results enable the use of the analytical model for further study of the electromechanical coupling with the HEMT structure.     

智能太阳翼有限元建模与振动控制研究

采用空间梁单元和矩形层板单元建立了表面粘贴压电片太阳翼的机电耦合有限元模型．其中,太阳翼与星体之间的连接架、太阳翼基板间连接铰链按空间梁单元处理;不含压电片的太阳翼基板按普通层板单元处理,而含有压电片的基板按压电层板单元处理．推导了多点约束关系式处理空间梁单元和板单元公共节点自由度不协调的问题．利用速度负反馈和线性二次最优调节器设计控制系统,编制有限元分析程序,进行了动力学特性计算和振动控制数值仿真．结果表明,压电传感／作动器的引入对太阳翼振动频率具有重要影响;利用压电传感／作动器和最优控制系统能够有效抑制太阳翼的振动．     

A system for the dynamic characterization of microstructures

This paper describes a fully automated measurement system designed to evaluate the dynamic characteristics of micromechanical structures (millimeter dimensions). To validate the system, vibration measurements have been carried on two structures-a micromachined silicon cantilever and bridge-and the results are presented. Out-of-plane measurements show that for the cantilever, both the mode shapes and resonant frequencies agree with beam theory predictions. However, for the bridge structure, tension due to boron doping causes a change from beam-like behavior and a more complex model is required. Mode-shapes natural frequencies and modal damping are determined from data obtained by vibrating the structures using a piezoelectric mounting system and deriving the transfer function between the piezodrive voltage and beam vibrational velocity     

Design and robust optimal control of smart beams with application on vibrations suppression

This paper presents the design of a vibration control mechanism for a beam with bonded piezoelectric sensors and actuators and an application of the arising smart structure for vibrations suppression. The mechanical modeling of the structure and the subsequent finite element approximation are based on Hamilton's principle and classical engineering theory for bending of beams in connection with simplified modeling of piezoelectric sensors and actuators. Two control schemes LQR and H₂ are considered. The latter robust controller takes into account uncertainties of the dynamical system and moreover incompleteness of the measured information, it therefore leads to applicable design of smart structures. The numerical simulation shows that sufficient vibration suppression can be achieved by means of the proposed general methods.     

基于压电自供电的采煤机状态无线监测装置

考虑到压电自供电装置中压电振子的几何参数直接影响其共振频率,从而影响压电自供电装置的发电量,因此需要根据环境激励频率设定最佳的压电振子的几何参数,本文对基于压电自供电的采煤机状态无线监测装置进行研究,通过理论分析、仿真以及实验方法对对不同悬臂梁结构在不同外界激励作用下的发电量进行研究。研究结果表明：悬臂梁自由端质量块质量以及悬臂梁长度越大,悬臂梁压电结构的固有频率越低;随着悬臂梁厚度的增加,悬臂梁压电结构的固有频率逐渐增大。以此为依据对采煤机不同监测位置的装置选取最佳匹配的压电结构几何参数,并通过采煤机工作状态监测实验验证了本文研究的压电自供电无线监测装置的可行性。     

微型之字形压电式能量收集器输出电压的建模和仿真

为了有效解决无线传感器网络节点的供电难题,提出之字形结构的微型压电式能量收集器。相比于传统的直悬臂梁,此结构等效加大了压电梁的长度,降低了系统的固有振动频率。建立了之字形压电梁的本构方程和受迫振动方程,推导得到其输出电压的频域表达式。基于之字形压电梁的结构,利用ANSYS软件对其进行了谐响应分析。仿真结果表明,压电梁的输出电压在各阶固有振动频率处存在极值,符合理论分析的结果;输出电压大小随压电梁长度增加而降低,随压电梁宽度增加而升高,但均为非线性关系;压电梁末端质量块的长度和厚度、基体层厚度减小时,会导致输出电压的增大。在论文中所提出的结构尺寸下,10根直梁构成的之字形结构压电梁,在其一阶固有振动频率处,输出电压可达10 V以上,符合无线传感器网络节点的实际供电需求,证明了之字形压电梁结构的有效性。     

基于ANSYS的(P/FGM/P)悬臂矩形板的模态分析

基于有限元基本理论,用 ANSYS 软件对( P/FGM/P) 型的带压电层的功能梯度材料悬臂板的结构进行了模态分析,这里选用 SHELL99 单元类型. 给出( P/FGM/P) 型的带压电层 FGM 悬臂矩形板的振动模态图,得到固有频率,并且对前 8 阶模态做模态分析,讨论了其对结构的动力学行为的影响. 通过模态分析可以得知带压电层 FGM 悬臂矩形板的模态振型有横向振动,扭转振动,拉伸振动,横向振动以前两阶模态为主,分析结果对系统的结构设计与优化以及振动特性研究提供了有效的依据.