具有偏置结构的非对称惯性压电旋转驱动器
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摘要
为改善惯性压电驱动器输出性能,提出了一种新型具有偏置结构的非对称惯性压电旋转驱动器。在非对称夹持的基础上,定义了一种偏置结构。为了解偏置结构对驱动器输出性能的影响,建立了机构的力学模型方程,推导并仿真分析了驱动器的动力学特性。设计、制作了试验样机,搭建了试验系统;进行了试验测试并与无偏置结构驱动器进行了性能对比。结果表明:偏置距离为15mm时,驱动器输出步距角速度最大。与无偏置结构驱动器相比,驱动电压为100V、23Hz时,驱动器输出最大角速度从3.48rad/s增加至5.39rad/s,增幅达54.88%,驱动器最大驱动力矩从2.41N·mm增加至3.62N·mm,增幅达50.2%;驱动电压为100V,4Hz时,驱动器稳定运行时的承载量达1 300g。理论与试验结果表明,提出的有偏置结构的驱动器具有输出步距角速度和驱动力矩更大的特点。
A novel asymmetrical inertial piezoelectric rotary actuator with a bias unit was proposed for improving the output performance of inertial piezoelectric actuators.On the asymmetrical clamp,the bias unit was designed.To research the effect of the bias unit on the output performance of piezoelectric rotary actuator,a mechanical model equation of the mechanism was initially established,and the dynamic characteristics of the actuator were also derived and simulated.Then,aprototype was designed and fabricated,corresponding experimental system was built to conduct experiments and experimental results were compared with that of the actuator without the bias unit.The results show that the output angular velocity peak of the actuator is at the offset distance of 15 mm.Compared with the actuator without the bias unit under the driving voltage of 100 V,23 Hz,the actuator with the offset distance of 15 mm improves the maximum angular velocity from 3.48rad/s to 5.39rad/s,enhancing by 54.88% and the highest driving moment from 2.41N·mm to 3.62N·mm,enhancing by 50.2%.In addition,its heavy bearing capacity at stable motion attains 1 300 g under the driving voltage of 100 V,4Hz.Both theoretical and experimental results indicate that the designed actuator hold advantages in larger angular velocities and inertial driving moments in comparison to the onewithout the bias unit.
A novel asymmetrical inertial piezoelectric rotary actuator with a bias unit was proposed for improving the output performance of inertial piezoelectric actuators.On the asymmetrical clamp,the bias unit was designed.To research the effect of the bias unit on the output performance of piezoelectric rotary actuator,a mechanical model equation of the mechanism was initially established,and the dynamic characteristics of the actuator were also derived and simulated.Then,aprototype was designed and fabricated,corresponding experimental system was built to conduct experiments and experimental results were compared with that of the actuator without the bias unit.The results show that the output angular velocity peak of the actuator is at the offset distance of 15 mm.Compared with the actuator without the bias unit under the driving voltage of 100 V,23 Hz,the actuator with the offset distance of 15 mm improves the maximum angular velocity from 3.48rad/s to 5.39rad/s,enhancing by 54.88% and the highest driving moment from 2.41N·mm to 3.62N·mm,enhancing by 50.2%.In addition,its heavy bearing capacity at stable motion attains 1 300 g under the driving voltage of 100 V,4Hz.Both theoretical and experimental results indicate that the designed actuator hold advantages in larger angular velocities and inertial driving moments in comparison to the onewithout the bias unit.
引文
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[3]OMIDI E,MAHMOODI S N,SHEPARD W S.Vibration reduction in aerospace structures via an optimized modified positive velocity feedback control[J].Aerospace Science and Technology,2015,45:408-415.
[4]WANG X,POMMIER-BUDINGER V,REYSSET A,et al..Simultaneous compensation of hysteresis and creep in a single piezoelectric actuator by openloop control for quasi-static space active optics applications[J].Control Engineering Practice,2014,33:48-62.
[5]PHUNG-VAN P,LORENZIS L D,THAI C H,et al..Analysisof laminated composite plates integrated with piezoelectricsensors and actuators using higher-order shear deformation theory and isogeometric finite elements[J].Computational Materials Science,2015,96:495-505.
[6]CHEN W M,LIU T S.Modeling and experimental validation of new two degree-of-freedom piezoelectric actuators[J].Mechatronics,2013,23(8):1163-1170.
[7]PAIK D S,YOO K H,KANG C Y,et al..Multilayer piezoelectric linear ultrasonic motor for camera module[J].Journal of Electroceramics,2009,22(1-3):346-351.
[8]曾平,孙淑杰,李立安,等.双向旋转非对称惯性压电驱动器理论与试验研究[J].西安交通大学学报,2013,47(12):90-94.ZENG P,SUN SH J,LIAN L A,et al..Theoretical and experimental analysis on bi-directional rotary asymmetric piezoelectric actuator[J].Journal of Xian Jiaotong University,2013,47(12):90-94.(in Chinese)
[9]CHENG G,HU Y,WEN J,et al..Piezoelectric inertial rotary actuators based on asymmetrically clamping structures[J].Sensors and Actuators A:Physical,2015,223:125-133.
[10]程光明,李新辉,张海滨,等.悬臂式压电双晶片振子夹持长度变化对其动态特性的影响[J].光学精密工程,2014,22(5):1296-1303.CHENG G M,LI X H,ZHANG H B,et al..Effect of different clamping lengths of cantilever bimorph on its dynamic characteristics[J].Opt.Precision Eng.,2014,22(5):1296-1303.(in Chinese)
[11]LI J,ZHAO H,QU H,et al..A piezoelectricdriven rotary actuator by means of inchworm motion[J].Sensors and Actuators A:Physical,2013,194(5):269-276.
[12]JAIN R K,MAJUMDER S,GHOSH B,et al..Design and manufacturing of mobile micro manipulation system with acompliant piezoelectric actuator based micro gripper[J].Journal of Manufacturing Systems,2015,35:76-91.
[13]SUN X,CHEN W,ZHANG J,et al..A novel piezo-driven linear-rotary inchworm actuator[J].Sensors and Actuators A:Physical,2015,224:78-86.
[14]张宏壮,程光明,赵宏伟,等.压电双晶片型二维惯性冲击式精密驱动器[J].吉林大学学报:工学版,2006,36(1):67-71.ZHANG H Z,CHENG G M,ZHAO H W,et al..Two-dimensional precise actuator drived by piezoelectric bimorph impact[J].Journal of Jilin University,2006,1:016.(in Chinese)
[15]李晓韬,程光明,杨志刚,等.应用惯性冲击原理的非对称夹持式压电旋转驱动器的设计[J].光学精密工程,2010,18(1):156-161.LI X T,CHENG G M,YANG ZH G,et al..Design of asymmetrical rotated piezoelectric actuators based on impact driving principle[J].Opt.Precision Eng.,2010,18(1):156-161.(in Chinese)