阀用超磁致伸缩致动器弓张结构静、动态建模与优化
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摘要
为满足大流量超磁致伸缩电液伺服阀的驱动需要,设计了一种结构紧凑的弓张放大式超磁致伸缩致动器;基于力学基本原理和振动理论知识建立了弓张结构的静、动态模型;分析了弓张结构尺寸参数对其静、动态性能的影响;结合弓张放大式超磁致伸缩致动器应用于电液伺服阀的要求,利用多目标优化法确定了其结构尺寸最佳参数值,并利用有限元法对其静、动态模型进行了验证;设计了弓张放大式超磁致伸缩致动器样机,搭建了实验系统,并进行了静、动态实验。实验结果表明,弓张结构的放大倍数在8.13~8.72间波动,输出端最大位移可达107.9μm,固有频率约为168 Hz,测试所得结果与其静、动态模型计算值基本吻合;通过与优化前的性能相比,弓张结构的静态放大倍数在满足要求的条件下,其动态固有频率提高了55.6%;所设计的弓张放大式超磁致伸缩致动器基本上能够满足伺服阀的驱动要求,证明了该优化设计方法的有效性。
A compact giant magnetostrictive actuator with bow-type amplifier structure was designed to meet the driving needs of large-flow electro-hydraulic servo valve. Based on mechanics and vibration theory,the static and dynamic models of this structure were established. The influence of the dimensional parameters towards its static and dynamic performance was analyzed,and it was concluded that its static and dynamic properties were mutually restrictive. Combining with the application requirements of giant magnetostrictive actuator in electro-hydraulic servo valve,the multi-objective optimization design was conducted for the bow-type structure,and then the static and dynamic models were validated by the finite element analysis. Finally, the giant magnetostrictive actuator with bow-type displacement amplifier structure was prototyped to test its static and dynamic properties. The results showed that the amplification ratio of this structure was fluctuated from 8. 13 to 8. 72,the maximum output displacement was 107. 9 μm,and the natural frequency reached 168 Hz. The results were basically in consistent with the theoretical models. Compared with the performance before optimization,the natural frequency was increased by 55. 6% when the requirement of the static magnification was met. The actuator designed can basically meet the driving requirements of servo valve,which proved that the optimized design method was effective.
A compact giant magnetostrictive actuator with bow-type amplifier structure was designed to meet the driving needs of large-flow electro-hydraulic servo valve. Based on mechanics and vibration theory,the static and dynamic models of this structure were established. The influence of the dimensional parameters towards its static and dynamic performance was analyzed,and it was concluded that its static and dynamic properties were mutually restrictive. Combining with the application requirements of giant magnetostrictive actuator in electro-hydraulic servo valve,the multi-objective optimization design was conducted for the bow-type structure,and then the static and dynamic models were validated by the finite element analysis. Finally, the giant magnetostrictive actuator with bow-type displacement amplifier structure was prototyped to test its static and dynamic properties. The results showed that the amplification ratio of this structure was fluctuated from 8. 13 to 8. 72,the maximum output displacement was 107. 9 μm,and the natural frequency reached 168 Hz. The results were basically in consistent with the theoretical models. Compared with the performance before optimization,the natural frequency was increased by 55. 6% when the requirement of the static magnification was met. The actuator designed can basically meet the driving requirements of servo valve,which proved that the optimized design method was effective.
引文
1訚耀保.极端环境下的电液伺服控制理论及应用技术[M].上海:上海科学技术出版社,2012.
2 KARUNANIDHI S,SINGAPERUMAL M.Design,analysis and simulation of magnetostrictive actuator and its application to high dynamic valve[J].Sensors and Actuators A:Physical,2010,157(2):185-197.
3赵冉,卢全国,雍康俊,等.磁致伸缩执行器驱动的精密流量阀建模与仿真[J].机械设计与研究,2015(6):115-118.ZHAO Ran,LU Quanguo,YONG Kangjun,et al.Modeling and simulation of precision flow valve by magnetostrictive actuator[J].Mechanical Design and Research,2015(6):115-118.(in Chinese)
4贾振元,郭东明.超磁致伸缩微位移执行器原理与应用[M].北京:科学出版社,2008.
5郑佳伟,何忠波,荣策,等.超磁致伸缩材料在电液阀中的应用现状[J].液压与气动,2018(3):22-31.ZHENG Jiawei,HE Zhongbo,RONG Ce,et al.Application of giant magnetostrictive material in electro-hydraulic serve valve[J].Chinese Hydraulics&Pneumatics,2018(3):22-31.(in Chinese)
6薛光明,张培林,何忠波,等.强偏置超磁致伸缩致动器准静态位移建模与试验[J/OL].农业机械学报,2015,46(7):318-324.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20150745&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.07.045.XUE Guangming,ZHANG Peilin,HE Zhongbo,et al.Modelling and experiment of strong bias giant magnetostrictive actuator's semi static displacement[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(7):318-324.(in Chinese)
7薛光明,张培林,何忠波,等.喷油器用超磁致伸缩致动器设计方法和驱动波形研究[J/OL].农业机械学报,2017,48(6):365-372.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20170648&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2017.06.048.XUE Guangming,ZHANG Peilin,HE Zhongbo,et al.Design method and driving voltage waveform of giant magnetostrictive actuator used on electronic controlled injector[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2017,48(6):365-372.(in Chinese)
8张雷,邬义杰,刘孝亮,等.嵌入式超磁致伸缩构件多场耦合优化[J/OL].农业机械学报,2012,43(5):190-196.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20120533&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2012.05.033.ZHANG Lei,WU Yijie,LIU Xiaoliang,et al.Multi-field coupling model of embedded giant magnetostrictive components optimization[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2012,43(5):190-196.(in Chinese)
9薛光明,何忠波,李冬伟,等.超磁致伸缩棒磁场强度建模及线圈优化分析[J].纳米技术与精密工程,2014,12(2):85-90.XUE Guangming,HE Zhongbo,LI Dongwei,et al.Magnetic field intensity model for giant magnetostrictive rod and coil optimization analysis[J].Nanotechnology and Precision Engineering,2014,12(2):85-90.(in Chinese)
10郭咏新,张臻,王贞艳,等.超磁致伸缩作动器的率相关振动控制实验研究[J].振动与冲击,2015,32(12):51-57.GUO Yongxin,ZHANG Zhen,WANG Zhenyan,et al.Experiment investigation on rate-dependent vibration control of giant magnetostrictive actuators[J].Journal of Vibration and Shock,2015,32(12):51-57.(in Chinese)
11 URAI T,TANAKA H.Development of a giant magnetostrictive tandem actuator and the application to a servo valve[J].Journal of the Japan Hydraulics&Pneumatics Society,2001,32(1):1-4.
12杨理华,李践飞,吴海平,等.超磁致伸缩作动器非线性模型辨识研究[J].振动与冲击,2015,34(18):142-146.YANG Lihua,LI Jianfei,WU Haiping,et al.Parameter identification of nonlinear model of giant magnetostrictive actuator[J].Journal of Vibration and Shock,2015,34(18):142-146.(in Chinese)
13杨旭磊,朱玉川,费尚书,等.超磁致伸缩电静液作动器磁场分析与优化[J].航空动力学报,2016,31(9):2210-2217.YANG Xulei,ZHU Yuchuan,FEI Shangshu,et al.Magnetic field analysis and optimization of giant magnetostrictive electrohydrostatic actuator[J].Journal of Aerospace Power,2016,31(9):2210-2217.(in Chinese)
14刘慧芳,王汉玉,王洁,等.精密磁致伸缩致动器的动态非线性多场耦合建模[J].光学精密工程,2016,24(5):1128-1137.LIU Huifang,WANG Hanyu,WANG Jie,et al.Modeling of dynamic nonlinear multi-field coupling for precision magnetostrictive actautor[J].Optics and Precision Engineering,2016,24(5):1128-1137.(in Chinese)
15 YANG Zhaoshu,HE Zhongbo,LI Dongwei,et al.Direct drive servo valve based on magnetostrictive actuator:multi-coupled modeling and its compound control strategy[J].Sensors and Actuators:Physical,2015,235:119-130.
16邱大龙,田东林,刘浩,等.基于GMM直动阀位移放大机构的结构研究[J].液压与气动,2013,25(11):90-93.QIU Dalong,TIAN Donglin,LIU Hao,et al.Research on structures for displacement amplifier of direct-acting valve based on GMM[J].Journal of Hydraulic and Pneumatic,2013,25(11):90-93.(in Chinese)
17俞军涛,焦宗夏,吴帅.基于液压微位移放大结构的新型压电陶瓷直接驱动阀设计及仿真[J].机械工程学报,2013,49(2):151-158.YU Juntao,JIAO Zongxia,WU Shuai.Design and simulation study on new servo valve direct by piezoelectric actuator using hydraulic amplification[J].Journal of Mechanical Engineering,2013,49(2):151-158.(in Chinese)
18林超,才立忠,纪久祥,等.多维微传动平台设计及基于RPY角的运动特性分析[J].华南理工大学学报(自然科学版),2014,42(9):46-52.LIN Chao,CAI Lizhong,JI Jiuxiang,et al.Multidimensional micro transmission platform design and RPY angle-based movemeut characteristic analysis[J].Journal of South China University of Technology(Natural Science Edition),2014,42(9):46-52.(in Chinese)
19赵正龙,何忠波,李东伟,等.骨导耳听器发音振子的弓张结构设计仿真研究[J].计算机仿真,2016,33(5):235-239.ZHAO Zhenglong,HE Zhongbo,LI Dongwei,et al.Analysis and research on the bow-type structure of GMM pronunciation vibrator[J].Journal of Computer Simulation,2016,33(5):235-239.(in Chinese)
20马立,谢炜,刘波,等.柔性铰链定位平台的设计[J].光学精密工程,2014,22(2):338-345.MA Li,XIE Wei,LIU Bo,et al.Design of micro-positioning stage with flexible hinges[J].Optics and Precision Engneering,2014,22(2):338-345.(in Chinese)
21杜志元,闫鹏.基于桥式放大机构的柔顺微定位平台的研究[J].机器人,2016,38(2):185-192.DU Zhiyuan,YAN Peng.Analysis on compliant micro positioning stage based on bridge-type amplification mechanism[J].Robot,2016,38(2):185-192.(in Chinese)
22林超,俞松松,陶桂宝,等.微/纳米定位平台的桥式机构静、动态优化设计[J].浙江大学学报(工学版),2012,46(6):1068-1073.LIN Chao,YU Songsong,TAO Guibao,et al.Static and dynamic optimal design of bridge-type mechanism of micro/nanopositioning platform[J].Journal of Zhejiang University(Engneering Science),2012,46(6):1068-1073.(in Chinese)
2 KARUNANIDHI S,SINGAPERUMAL M.Design,analysis and simulation of magnetostrictive actuator and its application to high dynamic valve[J].Sensors and Actuators A:Physical,2010,157(2):185-197.
3赵冉,卢全国,雍康俊,等.磁致伸缩执行器驱动的精密流量阀建模与仿真[J].机械设计与研究,2015(6):115-118.ZHAO Ran,LU Quanguo,YONG Kangjun,et al.Modeling and simulation of precision flow valve by magnetostrictive actuator[J].Mechanical Design and Research,2015(6):115-118.(in Chinese)
4贾振元,郭东明.超磁致伸缩微位移执行器原理与应用[M].北京:科学出版社,2008.
5郑佳伟,何忠波,荣策,等.超磁致伸缩材料在电液阀中的应用现状[J].液压与气动,2018(3):22-31.ZHENG Jiawei,HE Zhongbo,RONG Ce,et al.Application of giant magnetostrictive material in electro-hydraulic serve valve[J].Chinese Hydraulics&Pneumatics,2018(3):22-31.(in Chinese)
6薛光明,张培林,何忠波,等.强偏置超磁致伸缩致动器准静态位移建模与试验[J/OL].农业机械学报,2015,46(7):318-324.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20150745&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2015.07.045.XUE Guangming,ZHANG Peilin,HE Zhongbo,et al.Modelling and experiment of strong bias giant magnetostrictive actuator's semi static displacement[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(7):318-324.(in Chinese)
7薛光明,张培林,何忠波,等.喷油器用超磁致伸缩致动器设计方法和驱动波形研究[J/OL].农业机械学报,2017,48(6):365-372.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20170648&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2017.06.048.XUE Guangming,ZHANG Peilin,HE Zhongbo,et al.Design method and driving voltage waveform of giant magnetostrictive actuator used on electronic controlled injector[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2017,48(6):365-372.(in Chinese)
8张雷,邬义杰,刘孝亮,等.嵌入式超磁致伸缩构件多场耦合优化[J/OL].农业机械学报,2012,43(5):190-196.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20120533&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2012.05.033.ZHANG Lei,WU Yijie,LIU Xiaoliang,et al.Multi-field coupling model of embedded giant magnetostrictive components optimization[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2012,43(5):190-196.(in Chinese)
9薛光明,何忠波,李冬伟,等.超磁致伸缩棒磁场强度建模及线圈优化分析[J].纳米技术与精密工程,2014,12(2):85-90.XUE Guangming,HE Zhongbo,LI Dongwei,et al.Magnetic field intensity model for giant magnetostrictive rod and coil optimization analysis[J].Nanotechnology and Precision Engineering,2014,12(2):85-90.(in Chinese)
10郭咏新,张臻,王贞艳,等.超磁致伸缩作动器的率相关振动控制实验研究[J].振动与冲击,2015,32(12):51-57.GUO Yongxin,ZHANG Zhen,WANG Zhenyan,et al.Experiment investigation on rate-dependent vibration control of giant magnetostrictive actuators[J].Journal of Vibration and Shock,2015,32(12):51-57.(in Chinese)
11 URAI T,TANAKA H.Development of a giant magnetostrictive tandem actuator and the application to a servo valve[J].Journal of the Japan Hydraulics&Pneumatics Society,2001,32(1):1-4.
12杨理华,李践飞,吴海平,等.超磁致伸缩作动器非线性模型辨识研究[J].振动与冲击,2015,34(18):142-146.YANG Lihua,LI Jianfei,WU Haiping,et al.Parameter identification of nonlinear model of giant magnetostrictive actuator[J].Journal of Vibration and Shock,2015,34(18):142-146.(in Chinese)
13杨旭磊,朱玉川,费尚书,等.超磁致伸缩电静液作动器磁场分析与优化[J].航空动力学报,2016,31(9):2210-2217.YANG Xulei,ZHU Yuchuan,FEI Shangshu,et al.Magnetic field analysis and optimization of giant magnetostrictive electrohydrostatic actuator[J].Journal of Aerospace Power,2016,31(9):2210-2217.(in Chinese)
14刘慧芳,王汉玉,王洁,等.精密磁致伸缩致动器的动态非线性多场耦合建模[J].光学精密工程,2016,24(5):1128-1137.LIU Huifang,WANG Hanyu,WANG Jie,et al.Modeling of dynamic nonlinear multi-field coupling for precision magnetostrictive actautor[J].Optics and Precision Engineering,2016,24(5):1128-1137.(in Chinese)
15 YANG Zhaoshu,HE Zhongbo,LI Dongwei,et al.Direct drive servo valve based on magnetostrictive actuator:multi-coupled modeling and its compound control strategy[J].Sensors and Actuators:Physical,2015,235:119-130.
16邱大龙,田东林,刘浩,等.基于GMM直动阀位移放大机构的结构研究[J].液压与气动,2013,25(11):90-93.QIU Dalong,TIAN Donglin,LIU Hao,et al.Research on structures for displacement amplifier of direct-acting valve based on GMM[J].Journal of Hydraulic and Pneumatic,2013,25(11):90-93.(in Chinese)
17俞军涛,焦宗夏,吴帅.基于液压微位移放大结构的新型压电陶瓷直接驱动阀设计及仿真[J].机械工程学报,2013,49(2):151-158.YU Juntao,JIAO Zongxia,WU Shuai.Design and simulation study on new servo valve direct by piezoelectric actuator using hydraulic amplification[J].Journal of Mechanical Engineering,2013,49(2):151-158.(in Chinese)
18林超,才立忠,纪久祥,等.多维微传动平台设计及基于RPY角的运动特性分析[J].华南理工大学学报(自然科学版),2014,42(9):46-52.LIN Chao,CAI Lizhong,JI Jiuxiang,et al.Multidimensional micro transmission platform design and RPY angle-based movemeut characteristic analysis[J].Journal of South China University of Technology(Natural Science Edition),2014,42(9):46-52.(in Chinese)
19赵正龙,何忠波,李东伟,等.骨导耳听器发音振子的弓张结构设计仿真研究[J].计算机仿真,2016,33(5):235-239.ZHAO Zhenglong,HE Zhongbo,LI Dongwei,et al.Analysis and research on the bow-type structure of GMM pronunciation vibrator[J].Journal of Computer Simulation,2016,33(5):235-239.(in Chinese)
20马立,谢炜,刘波,等.柔性铰链定位平台的设计[J].光学精密工程,2014,22(2):338-345.MA Li,XIE Wei,LIU Bo,et al.Design of micro-positioning stage with flexible hinges[J].Optics and Precision Engneering,2014,22(2):338-345.(in Chinese)
21杜志元,闫鹏.基于桥式放大机构的柔顺微定位平台的研究[J].机器人,2016,38(2):185-192.DU Zhiyuan,YAN Peng.Analysis on compliant micro positioning stage based on bridge-type amplification mechanism[J].Robot,2016,38(2):185-192.(in Chinese)
22林超,俞松松,陶桂宝,等.微/纳米定位平台的桥式机构静、动态优化设计[J].浙江大学学报(工学版),2012,46(6):1068-1073.LIN Chao,YU Songsong,TAO Guibao,et al.Static and dynamic optimal design of bridge-type mechanism of micro/nanopositioning platform[J].Journal of Zhejiang University(Engneering Science),2012,46(6):1068-1073.(in Chinese)