磁致伸缩主被动隔振装置中的磁机耦合效应研究
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摘要
磁致伸缩材料和柔顺位移放大机构组成的主动驱动装置具有精度高、驱动力大等特点.将其与被动隔振装置并联,形成主被动隔振装置,可以弥补纯被动隔振在低频和微幅扰动工况下的不足.本文针对这类磁致伸缩主被动隔振装置进行磁机耦合效应研究.基于Jiles-Atherton模型,分析了磁致伸缩材料所受应力对有效磁场、磁化强度、磁致伸缩系数和材料杨氏模量的影响,表征了材料磁机耦合效应.在此基础上,建立了主被动隔振装置的动力学模型,分析了主动驱动装置与被动隔振装置间的耦合作用.在耦合作用影响下,若被动隔振装置刚度不同,即使输入磁场相同,驱动器产生的驱动位移和驱动力也不相同.磁致伸缩材料的变刚度效应使隔振装置整体等效刚度不再为定值,从而影响被动隔振效果.本文提出了通过柔顺机构参数设计减小前述两种耦合影响的方法.数值仿真结果表明,磁致伸缩主被动隔振装置在低于、接近和高于谐振频率三类扰动下,都能达到比被动隔振更好的振动抑制效果.此外,仿真结果验证了考虑磁机耦合效应的数值模型具有更高精度.
The actuation system, which is composed of magnetostrictive actuator and compliant displacement amplifier,has the advantages of high precision and large actuation force. It is connected in parallel with passive vibration isolator.The resulting active and passive vibration isolator can make up for the deficiencies of passive isolator on low-frequency and micro-amplitude conditions. In this paper, a nonlinear magnetostrictive actuation model is proposed based on JilesAtherton model. Magneto-mechanical effect is comprehensively characterized by being decomposed into stress related effects on effective field, magnetization, magnetostriction and Young's modulus. A dynamic model of the isolator is established considering the coupling effects between active isolator and passive isolator. With the coupling effect, the performance of actuation system is related to passive isolator parameters. With higher passive isolator stiffness, the actuation displacement decreases and the required actuation force increases. The coupling effect also leads to the change of equivalent stiffness of the isolator due to the ?E effect of magnetostrictive material. The influence of coupling effects can be weakened by parameter design of compliant amplifier. The performances of the active and passive vibration isolator are validated by numerical simulation. Three kinds of vibration frequencies are used, which are below, around and beyond natural frequency of the isolator, respectively. Compared to passive vibration isolator, better vibration isolation performances are acquired by adding active vibration isolator on all three conditions. And the calculation results show that the proposed model considering magneto-mechanical effect can reach a higher accuracy.
The actuation system, which is composed of magnetostrictive actuator and compliant displacement amplifier,has the advantages of high precision and large actuation force. It is connected in parallel with passive vibration isolator.The resulting active and passive vibration isolator can make up for the deficiencies of passive isolator on low-frequency and micro-amplitude conditions. In this paper, a nonlinear magnetostrictive actuation model is proposed based on JilesAtherton model. Magneto-mechanical effect is comprehensively characterized by being decomposed into stress related effects on effective field, magnetization, magnetostriction and Young's modulus. A dynamic model of the isolator is established considering the coupling effects between active isolator and passive isolator. With the coupling effect, the performance of actuation system is related to passive isolator parameters. With higher passive isolator stiffness, the actuation displacement decreases and the required actuation force increases. The coupling effect also leads to the change of equivalent stiffness of the isolator due to the ?E effect of magnetostrictive material. The influence of coupling effects can be weakened by parameter design of compliant amplifier. The performances of the active and passive vibration isolator are validated by numerical simulation. Three kinds of vibration frequencies are used, which are below, around and beyond natural frequency of the isolator, respectively. Compared to passive vibration isolator, better vibration isolation performances are acquired by adding active vibration isolator on all three conditions. And the calculation results show that the proposed model considering magneto-mechanical effect can reach a higher accuracy.
引文
1曹登庆,白坤朝,丁虎等.大型柔性航天器动力学与振动控制研究进展.力学学报,2019,51(1):1-13(Cao Dengqing,Bai Kunchao,Ding Hu,et al.Advances in dynamics and vibration control of large-scale flexible spacecraft.Chinese Journal of Theoretical and Applied Mechanics,2019,51(1):1-13(in Chinese))
2董瑶海.航天器微振动-理论与实践.北京:中国宇航出版社,2015(Dong Yaohai.Micro-Vibration of Spacecraft-Theory and Practice.Beijing:China Aerospace Press,2015(in Chinese))
3陆泽琦,陈立群.非线性被动隔振的若干进展.力学学报,2017,49(3):550-564(Lu Zeqi,Chen Liqun.Some recent progresses in nonlinear passive isolations of vibrations.Chinese Journal of Theoretical and Applied Mechanics,2017,49(3):550-564(in Chinese))
4李帅,周继磊,任传波等.时变参数时滞减振控制研究.力学学报,2018,50(1):99-108(Li Shuai,Zhou Jilei,Ren Chuanbo,et al.The research of time delay vibration control with time-varying parameters.Chinese Journal of Theoretical and Applied Mechanics,2018,50(1):99-108(in Chinese))
5 Joule J.On a new class of magnetic forces.Ann Electr Magn Chem,1842,8(1842):219-224
6毛剑琴.智能结构动力学与控制.北京:科学出版社,2013(Mao Jianqin.Dynamics and Control of Smart Structure.Beijing:Science Press,2013(in Chinese))
7 Huber JE,Fleck NA,Ashby MF.The Selection of Mechanical Actuators Based on Performance Indices.Proceedings Mathematical Physical&Engineering Sciences,1997,453(1965):2185-2205
8 Kim WJ,Sadighi A.A novel low-power linear magnetostrictive actuator with local three-phase excitation.IEEE/ASME Transactions on Mechatronics,2010,15(2):299-307
9 Xue G,Zhang P,Li X,et al.A review of giant magnetostrictive injector(GMI).Sensors&Actuators A Physical,2018,273:159-181
10 Zhu Y,Yang X,Fu T.Dynamic modeling and experimental investigations of a magnetostrictive nozzle-flapper servovalve pilot stage.Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems&Control Engineering,2016,230(3):197-207
11 Yoshioka H,Shinno H,Sawano H.A newly developed rotary-linear motion platform with a giant magnetostrictive actuator.CIRP Annals-Manufacturing Technology,2013,62(1):371-374
12 Park G,Bement MT,Hartman DA,et al.The use of active materials for machining processes:A review.International Journal of Machine Tools&Manufacture,2007,47(15):2189-2206
13 Sun X,Yang B,Zhao L,et al.Optimal design and experimental analyses of a new micro-vibration control payload-platform.Journal of Sound&Vibration,2016,374:43-60
14段博文.应用超磁致伸缩材料的可控式液压悬置隔振特性研究.[硕士论文].南京:南京航空航天大学,2016(Duan Bowen.Dynamic Analysis and Control of an Active Power-train Mount Based on Magnetostrictive Actuator.[Master Thesis].Nanjing:Nanjing University of Aeronautics&Astronautics,2016(in Chinese))
15 Nakamura Y,Nakayama M,Masuda K,et al.Development of active six-degrees-of-freedom microvibration control system using giant magnetostrictive actuators.Smart Materials&Structures,2000,9(2):175-185
16 Nakamura Y,Nakayama M,Yasuda M,et al.Development of active six-degrees-of-freedom micro-vibration control system using hybrid actuators comprising air actuators and giant magnetostrictive actuators.Smart Materials&Structures,2006,15(4):1133-1142.
17 Geng Z J,Haynes L S.Six degree-of-freedom active vibration control using the Stewart platforms.IEEE Transactions on Control Systems Technology,2002,2(1):45-53
18 Braghin F,Cinquemani S,Resta F.A model of magnetostrictive actuators for active vibration control.Sensors&Actuators A Physical,2011,165(2):342-350
19 Zhou HM,Zheng XJ,Zhou YH.Active vibration control of nonlinear giant magnetostrictive actuators.Smart Materials&Structures,2006,15(3):792-798
20 Zhang T,Yang BT,Li HG,et al.Dynamic modeling and adaptive vibration control study for giant magnetostrictive actuators.Sensors and Actuators A:Physical,2013,190:96-105
21 Kellogg RA,Flatau AB.Stress-strain relationship in Terfenol-D.Proceedings of SPIE-The International Society for Optical Engineering,2001,4327:541-549
22 Datta S,Atulasimha J,Mudivarthi C,et al.Stress and magnetic field-dependent Young’s modulus in single crystal iron-gallium alloys.Journal of Magnetism and Magnetic Materials,2010,322(15):2135-2144
23 Sablik MJ,Jiles DC.Coupled magnetoelastic theory of magnetic and magnetostrictive hysteresis.IEEE Transactions on Magnetics,1993,29(4):2113-2123
24 Jiles D.Theory of the magnetomechanical effect.Journal of Physics D:Applied Physics,1995,28(8):1537-1546
25 Zheng XJ,Liu X.A nonlinear constitutive model for Terfenol-Drods.Journal of Applied Physics,2005,97(5):61-68
26 Niu M,Yang B,Yang Y,et al.Two generalized models for planar compliant mechanisms based on tree structure method.Precision Engineering,2017,51:137-144
27 Jiles D,Atherton D.Ferromagnetic hysteresis.IEEE Transactions on Magnetics,1983,19(5):2183-2185
28 Sablik M,Jiles D.A model for hysteresis in magnetostriction.Journal of Applied Physics,1988,64(10):5402-5404
29 Yang Y,Yang B,Niu M.Adaptive trajectory tracking of magnetostrictive actuator based on preliminary hysteresis compensation and further adaptive filter controller.Nonlinear Dynamics,2018,92(9):1-10
30 Al Janaideh M,Aljanaideh O.Further results on open-loop compensation of rate-dependent hysteresis in a magnetostrictive actuator with the Prandtl-Ishlinskii model.Mechanical Systems&Signal Processing,2018,104:835-850
2董瑶海.航天器微振动-理论与实践.北京:中国宇航出版社,2015(Dong Yaohai.Micro-Vibration of Spacecraft-Theory and Practice.Beijing:China Aerospace Press,2015(in Chinese))
3陆泽琦,陈立群.非线性被动隔振的若干进展.力学学报,2017,49(3):550-564(Lu Zeqi,Chen Liqun.Some recent progresses in nonlinear passive isolations of vibrations.Chinese Journal of Theoretical and Applied Mechanics,2017,49(3):550-564(in Chinese))
4李帅,周继磊,任传波等.时变参数时滞减振控制研究.力学学报,2018,50(1):99-108(Li Shuai,Zhou Jilei,Ren Chuanbo,et al.The research of time delay vibration control with time-varying parameters.Chinese Journal of Theoretical and Applied Mechanics,2018,50(1):99-108(in Chinese))
5 Joule J.On a new class of magnetic forces.Ann Electr Magn Chem,1842,8(1842):219-224
6毛剑琴.智能结构动力学与控制.北京:科学出版社,2013(Mao Jianqin.Dynamics and Control of Smart Structure.Beijing:Science Press,2013(in Chinese))
7 Huber JE,Fleck NA,Ashby MF.The Selection of Mechanical Actuators Based on Performance Indices.Proceedings Mathematical Physical&Engineering Sciences,1997,453(1965):2185-2205
8 Kim WJ,Sadighi A.A novel low-power linear magnetostrictive actuator with local three-phase excitation.IEEE/ASME Transactions on Mechatronics,2010,15(2):299-307
9 Xue G,Zhang P,Li X,et al.A review of giant magnetostrictive injector(GMI).Sensors&Actuators A Physical,2018,273:159-181
10 Zhu Y,Yang X,Fu T.Dynamic modeling and experimental investigations of a magnetostrictive nozzle-flapper servovalve pilot stage.Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems&Control Engineering,2016,230(3):197-207
11 Yoshioka H,Shinno H,Sawano H.A newly developed rotary-linear motion platform with a giant magnetostrictive actuator.CIRP Annals-Manufacturing Technology,2013,62(1):371-374
12 Park G,Bement MT,Hartman DA,et al.The use of active materials for machining processes:A review.International Journal of Machine Tools&Manufacture,2007,47(15):2189-2206
13 Sun X,Yang B,Zhao L,et al.Optimal design and experimental analyses of a new micro-vibration control payload-platform.Journal of Sound&Vibration,2016,374:43-60
14段博文.应用超磁致伸缩材料的可控式液压悬置隔振特性研究.[硕士论文].南京:南京航空航天大学,2016(Duan Bowen.Dynamic Analysis and Control of an Active Power-train Mount Based on Magnetostrictive Actuator.[Master Thesis].Nanjing:Nanjing University of Aeronautics&Astronautics,2016(in Chinese))
15 Nakamura Y,Nakayama M,Masuda K,et al.Development of active six-degrees-of-freedom microvibration control system using giant magnetostrictive actuators.Smart Materials&Structures,2000,9(2):175-185
16 Nakamura Y,Nakayama M,Yasuda M,et al.Development of active six-degrees-of-freedom micro-vibration control system using hybrid actuators comprising air actuators and giant magnetostrictive actuators.Smart Materials&Structures,2006,15(4):1133-1142.
17 Geng Z J,Haynes L S.Six degree-of-freedom active vibration control using the Stewart platforms.IEEE Transactions on Control Systems Technology,2002,2(1):45-53
18 Braghin F,Cinquemani S,Resta F.A model of magnetostrictive actuators for active vibration control.Sensors&Actuators A Physical,2011,165(2):342-350
19 Zhou HM,Zheng XJ,Zhou YH.Active vibration control of nonlinear giant magnetostrictive actuators.Smart Materials&Structures,2006,15(3):792-798
20 Zhang T,Yang BT,Li HG,et al.Dynamic modeling and adaptive vibration control study for giant magnetostrictive actuators.Sensors and Actuators A:Physical,2013,190:96-105
21 Kellogg RA,Flatau AB.Stress-strain relationship in Terfenol-D.Proceedings of SPIE-The International Society for Optical Engineering,2001,4327:541-549
22 Datta S,Atulasimha J,Mudivarthi C,et al.Stress and magnetic field-dependent Young’s modulus in single crystal iron-gallium alloys.Journal of Magnetism and Magnetic Materials,2010,322(15):2135-2144
23 Sablik MJ,Jiles DC.Coupled magnetoelastic theory of magnetic and magnetostrictive hysteresis.IEEE Transactions on Magnetics,1993,29(4):2113-2123
24 Jiles D.Theory of the magnetomechanical effect.Journal of Physics D:Applied Physics,1995,28(8):1537-1546
25 Zheng XJ,Liu X.A nonlinear constitutive model for Terfenol-Drods.Journal of Applied Physics,2005,97(5):61-68
26 Niu M,Yang B,Yang Y,et al.Two generalized models for planar compliant mechanisms based on tree structure method.Precision Engineering,2017,51:137-144
27 Jiles D,Atherton D.Ferromagnetic hysteresis.IEEE Transactions on Magnetics,1983,19(5):2183-2185
28 Sablik M,Jiles D.A model for hysteresis in magnetostriction.Journal of Applied Physics,1988,64(10):5402-5404
29 Yang Y,Yang B,Niu M.Adaptive trajectory tracking of magnetostrictive actuator based on preliminary hysteresis compensation and further adaptive filter controller.Nonlinear Dynamics,2018,92(9):1-10
30 Al Janaideh M,Aljanaideh O.Further results on open-loop compensation of rate-dependent hysteresis in a magnetostrictive actuator with the Prandtl-Ishlinskii model.Mechanical Systems&Signal Processing,2018,104:835-850