超磁致伸缩执行器的基础理论与实验研究
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摘要
超磁致伸缩材料(简称GMM)是一种具有双向可逆换能效应的新型功能材料，利用其正效应可制作执行器(GMA)，利用其逆效应可制作传感器。GMA相比压电类执行器具有承载大、快速响应、可靠性高、低压驱动等特点，在精密定位、主动降噪减振、流体控制(泵、阀)等领域具有广阔的应用前景。本文以直动型GMA为对象，对GMA的设计、性能优化和非线性迟滞控制进行了研究，成功研制了超磁致伸缩精密微位移执行器原型及GMA的综合实验平台，其成果对GMM执行器的设计和应用具有普遍的指导意义；另外，本文研究了偏置条件对GMA的磁致伸缩逆效应性能的影响，这对自感知GMA的设计有重要的参考价值，同时对自感知GMA的实现方法进行了一些探索性的研究。
第一章介绍了现代执行器的发展背景，综合论述了国内外超磁致伸缩材料的应用和自感知执行器的研究现状，指出了目前GMA研究存在的一些问题，提出了本论文的选题意义，说明了论文的主要研究内容。
第二章阐述了超磁致伸缩材料的基本特性，应用磁畴理论对磁致伸缩现象进行了解释，给出了小信号激励环境下GMM的线性压磁方程，分析了GMM的几个关键参数的含义及其相互的联系。
第三章系统地阐明了直动型GMA的设计原理和方法，包括GMA的总体结构设计、GMM棒的几何参数设计及其横截面上的磁场分布研究、线圈的几何参数设计及优化、磁路设计、预压力装置等，设计了一种线圈内腔水冷式的GMA及其温控系统。
第四章建立了基于虚拟仪器的GMA综合实验平台。通过对GMA的静态特性实验研究，给出了预压应力、偏置磁场、负载等因素对GMA性能的影响规律；建立了集中参数的GMA动力学模型，通过频响测量，得到了GMA的传递函数；实验测量了GMA的电阻抗随频率变化的特性，得到了GMA的磁机转换系数。本章不仅验证了研制的GMA原型的部分设计指标，对GMA的性能优化和正确使用有重要的参考价值。
第五章首先阐明了经典Preisach模型的概念，建立了GMA的两种Preisach数值模型(密度函数法和F函数法)，研究表明F函数法的迟滞预测精度高于密度函数法，提出了一种Preisach模型的实时数字补偿算法，建立了基于Preisach前馈补偿模型的PID控制算法，实验验证了该方法相对于开环控制和普通PID可显著提高GMA的响应速度、位置跟踪和轨迹跟踪能力，使GMA原型达到了微位移控制的设计指标。
第六章首先设计了一种实验方法验证了GMA中磁致伸缩逆效应及GMA作力传感器的可行性，揭示了偏置条件(预压应力和偏置磁场)对GMA的正效应
Giant Magnetostrictive Material (GMM ) is a new functional material which has bi-directional transduction effects, it can be made into Giant Magnetostrictive Actuator (GMA) by using the direct effect, also can be made into kinds of sensors by using the converse effect. Compared with piezoelectric actuator, GMA owns the advantage of larger load capacity, rapider response, higher reliability and lower voltage drive, etc, It has a promising prospect in precision positioning, active noise and vibration control and fluid control (pump, valve) fields. This dissertation emphasizes on axial moving type GMA , studies theory for designing GMA, performance optimization and hysteresis control. We successfully developed a magnetostrictive precision micro-displacement actuator prototype and a general experiment table for GMA. These work offer good and universal guidance for design and application of GMA; Moreover, how the bias condition affects the converse effect of GMA is also studied, which provides a valuable reference for the design of self-sensing GMA, and then some new approaches of realizing the self-sensing GMA are explored in this dissertation.
In the first chapter, the development background of modern actuator, the research situation of the application of GMM and self-sensing actuator in China and oversea are presented, some problems within GMA research are pointed out, the project significance and main contents of the research are provided.
In the second chapter, the basic properties of GMM are introduced, the magnetostrictive phenomenon is explained by magnetic domain theory, and the linear piezo-magnetic equations are provided, then the connotation of some key parameters of GMM and their relations are analyzed.
In the third chapter, theory and methods for designing the axial moving type GMA are presented, including the frame design of GMA, the geometric parameter design of GMM rod and magnetic field distribution on the cross section, the geometric parameter design and optimization of the drive coil, magnetic circuit design, pre-stress mechanism design, a new cooling method using water filled in the chamber of the coil and the temperature control system are provided.
In the fourth chapter, the general experiment table for GMA based on virtual instrument techniques is build up. The influences of pre-stress, bias magnet, and load to GMA are provided; Lump parameter kinetic model of GMA is build up, and transfer function of GMA is attained by frequency response measurement; Magnetomechanical coupling factor is attained through electrical impedance
第一章介绍了现代执行器的发展背景，综合论述了国内外超磁致伸缩材料的应用和自感知执行器的研究现状，指出了目前GMA研究存在的一些问题，提出了本论文的选题意义，说明了论文的主要研究内容。
第二章阐述了超磁致伸缩材料的基本特性，应用磁畴理论对磁致伸缩现象进行了解释，给出了小信号激励环境下GMM的线性压磁方程，分析了GMM的几个关键参数的含义及其相互的联系。
第三章系统地阐明了直动型GMA的设计原理和方法，包括GMA的总体结构设计、GMM棒的几何参数设计及其横截面上的磁场分布研究、线圈的几何参数设计及优化、磁路设计、预压力装置等，设计了一种线圈内腔水冷式的GMA及其温控系统。
第四章建立了基于虚拟仪器的GMA综合实验平台。通过对GMA的静态特性实验研究，给出了预压应力、偏置磁场、负载等因素对GMA性能的影响规律；建立了集中参数的GMA动力学模型，通过频响测量，得到了GMA的传递函数；实验测量了GMA的电阻抗随频率变化的特性，得到了GMA的磁机转换系数。本章不仅验证了研制的GMA原型的部分设计指标，对GMA的性能优化和正确使用有重要的参考价值。
第五章首先阐明了经典Preisach模型的概念，建立了GMA的两种Preisach数值模型(密度函数法和F函数法)，研究表明F函数法的迟滞预测精度高于密度函数法，提出了一种Preisach模型的实时数字补偿算法，建立了基于Preisach前馈补偿模型的PID控制算法，实验验证了该方法相对于开环控制和普通PID可显著提高GMA的响应速度、位置跟踪和轨迹跟踪能力，使GMA原型达到了微位移控制的设计指标。
第六章首先设计了一种实验方法验证了GMA中磁致伸缩逆效应及GMA作力传感器的可行性，揭示了偏置条件(预压应力和偏置磁场)对GMA的正效应
Giant Magnetostrictive Material (GMM ) is a new functional material which has bi-directional transduction effects, it can be made into Giant Magnetostrictive Actuator (GMA) by using the direct effect, also can be made into kinds of sensors by using the converse effect. Compared with piezoelectric actuator, GMA owns the advantage of larger load capacity, rapider response, higher reliability and lower voltage drive, etc, It has a promising prospect in precision positioning, active noise and vibration control and fluid control (pump, valve) fields. This dissertation emphasizes on axial moving type GMA , studies theory for designing GMA, performance optimization and hysteresis control. We successfully developed a magnetostrictive precision micro-displacement actuator prototype and a general experiment table for GMA. These work offer good and universal guidance for design and application of GMA; Moreover, how the bias condition affects the converse effect of GMA is also studied, which provides a valuable reference for the design of self-sensing GMA, and then some new approaches of realizing the self-sensing GMA are explored in this dissertation.
In the first chapter, the development background of modern actuator, the research situation of the application of GMM and self-sensing actuator in China and oversea are presented, some problems within GMA research are pointed out, the project significance and main contents of the research are provided.
In the second chapter, the basic properties of GMM are introduced, the magnetostrictive phenomenon is explained by magnetic domain theory, and the linear piezo-magnetic equations are provided, then the connotation of some key parameters of GMM and their relations are analyzed.
In the third chapter, theory and methods for designing the axial moving type GMA are presented, including the frame design of GMA, the geometric parameter design of GMM rod and magnetic field distribution on the cross section, the geometric parameter design and optimization of the drive coil, magnetic circuit design, pre-stress mechanism design, a new cooling method using water filled in the chamber of the coil and the temperature control system are provided.
In the fourth chapter, the general experiment table for GMA based on virtual instrument techniques is build up. The influences of pre-stress, bias magnet, and load to GMA are provided; Lump parameter kinetic model of GMA is build up, and transfer function of GMA is attained by frequency response measurement; Magnetomechanical coupling factor is attained through electrical impedance
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