基于光致伸缩作动器的柔性板壳结构非接触精密控制研究
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摘要
极化后的铁电陶瓷材料镧改性锆钛酸铅(PLZT)在特定波长的高能光束照射下具有明显的光致伸缩效应,可作为新型的非接触激励光致伸缩作动器用于智能结构设计与控制。本文在分析PLZT铁电陶瓷的光机电耦合特性的基础上,深入研究了由LED紫外光源触发的典型光电层合柔性板壳结构的非接触激励技术,并提出一种满足多模态控制要求的新型多自由度作动器,全面研究其模态控制特性,为其在复杂智能结构中的应用提供理论依据和技术支持。
基于PLZT光致伸缩作动器的物理特性,本文阐述了光致伸缩作动器工作所涉及的光、热、电、力等能场耦合的机理;通过对光致伸缩作动器本构关系的分析,完善了光致伸缩作动器的本构方程,推导出单片式光致伸缩作动器的控制力及力矩表达式,并揭示了各能场交互作用下的光致伸缩作动器的温升和位移响应特性。
在系统理论建模和作动器控制效应数值仿真的基础上,本文搭建了基于LED紫外冷光源的光致伸缩结构系统实验平台,开展了针对作动器光致伸缩特性和光电层合悬臂梁结构静态偏移、动态衰减的实验研究,通过实验数据与理论值的对比分析,验证了光致伸缩效应及光电层合悬臂梁智能结构系统模型的正确性。
为推动分布式光致伸缩作动器在二维薄壳结构控制中的应用,本文以等截面变曲率圆柱壳为研究对象,建立了光电层合圆柱壳结构系统控制方程,研究了作动器的布局优化和系统动力学问题,并对分布式光致伸缩作动器的模态激励效应进行评价。
本文针对空间薄壳结构的模态控制特性,提出了一种新型的多自由度光致伸缩作动器,并对其构型及参数进行了详细设计。通过与同等条件下单片式光致伸缩作动器对圆柱薄壳结构的控制效果对比分析,证明了多自由度光致伸缩作动器对于曲率壳结构模态控制的优越性,也为其在空间复杂结构控制领域的应用奠定了基础。
The polarized lanthanum-modified lead zirconate titanate (PLZT) exhibits a significant photostriction effect when subjected to certain wave-length light illumination. So it can be used for non-contact precision excitation and control in smart structure. Based on detailed analysis on the light-electric-mechanic coupling characteristics of PLZT, non-contact excitation technique on typical flexible plate-shell structure attached with photostrictive actuator is studied. A new style multi-degree-of-freedom (DOF) actuator is put forward. Thoroughly study of its modal control performance will provide theory reference and technical support in complicated intelligent structure.
Based on the physical characteristics of PLZT photostrictive actuator, the light-thermal-electric-elastic coupling mechanisms of the photostrictive actuator are stated. By analyzing the relationship of the governing equations, the control force/moment of one-piece actuator is deduced, the temperature and displacement response characteristics of the actuator in multi coupling filed effect are revealed.
Following the theory modeling and mathematic simulation of actuator control effect, test platform for photostriction properties and exit properties of attached photostrictive cantilever beam have been built up to verify the validity of theories above, then research on these properties have been carried out. Through the comparison of test result and theory value, the theory model of photostrictive effect and photostrictive actuator attached cantilever beam is validate.
To drive the application in the two-demission thin shell structure of distributed photostrictive actuator, the governing equation of photostrictive actuator attached stable area but changeable curvature cylindrical shell is studied. The actuator configuration arrangement and system dynamics characteristics are studied, besides the evaluation of modal actuation effect of the actuator.
Multi-DOF actuator is put forward to make up the deficiency of one-piece actuator, its configuration and design parameters are studied. Its modal control advantages on shell are validated by comparing with the one-piece actuator in same situation. It provides the foundation for space composite structure control.
基于PLZT光致伸缩作动器的物理特性,本文阐述了光致伸缩作动器工作所涉及的光、热、电、力等能场耦合的机理;通过对光致伸缩作动器本构关系的分析,完善了光致伸缩作动器的本构方程,推导出单片式光致伸缩作动器的控制力及力矩表达式,并揭示了各能场交互作用下的光致伸缩作动器的温升和位移响应特性。
在系统理论建模和作动器控制效应数值仿真的基础上,本文搭建了基于LED紫外冷光源的光致伸缩结构系统实验平台,开展了针对作动器光致伸缩特性和光电层合悬臂梁结构静态偏移、动态衰减的实验研究,通过实验数据与理论值的对比分析,验证了光致伸缩效应及光电层合悬臂梁智能结构系统模型的正确性。
为推动分布式光致伸缩作动器在二维薄壳结构控制中的应用,本文以等截面变曲率圆柱壳为研究对象,建立了光电层合圆柱壳结构系统控制方程,研究了作动器的布局优化和系统动力学问题,并对分布式光致伸缩作动器的模态激励效应进行评价。
本文针对空间薄壳结构的模态控制特性,提出了一种新型的多自由度光致伸缩作动器,并对其构型及参数进行了详细设计。通过与同等条件下单片式光致伸缩作动器对圆柱薄壳结构的控制效果对比分析,证明了多自由度光致伸缩作动器对于曲率壳结构模态控制的优越性,也为其在空间复杂结构控制领域的应用奠定了基础。
The polarized lanthanum-modified lead zirconate titanate (PLZT) exhibits a significant photostriction effect when subjected to certain wave-length light illumination. So it can be used for non-contact precision excitation and control in smart structure. Based on detailed analysis on the light-electric-mechanic coupling characteristics of PLZT, non-contact excitation technique on typical flexible plate-shell structure attached with photostrictive actuator is studied. A new style multi-degree-of-freedom (DOF) actuator is put forward. Thoroughly study of its modal control performance will provide theory reference and technical support in complicated intelligent structure.
Based on the physical characteristics of PLZT photostrictive actuator, the light-thermal-electric-elastic coupling mechanisms of the photostrictive actuator are stated. By analyzing the relationship of the governing equations, the control force/moment of one-piece actuator is deduced, the temperature and displacement response characteristics of the actuator in multi coupling filed effect are revealed.
Following the theory modeling and mathematic simulation of actuator control effect, test platform for photostriction properties and exit properties of attached photostrictive cantilever beam have been built up to verify the validity of theories above, then research on these properties have been carried out. Through the comparison of test result and theory value, the theory model of photostrictive effect and photostrictive actuator attached cantilever beam is validate.
To drive the application in the two-demission thin shell structure of distributed photostrictive actuator, the governing equation of photostrictive actuator attached stable area but changeable curvature cylindrical shell is studied. The actuator configuration arrangement and system dynamics characteristics are studied, besides the evaluation of modal actuation effect of the actuator.
Multi-DOF actuator is put forward to make up the deficiency of one-piece actuator, its configuration and design parameters are studied. Its modal control advantages on shell are validated by comparing with the one-piece actuator in same situation. It provides the foundation for space composite structure control.
引文
1黄文虎.航天柔性结构振动控制的若干新进展.力学进展. 1997,27 (1):5~16
2邱志成.智能结构及其在振动主动控制中的应用.航天控制. 2002, (4): 8~15
3王晓明,沈亚鹏.机敏材料和机敏结构的力学分析.力学进展. 1995, 25(2): 209~221
4董聪,夏人伟.智能结构设计与控制中的若干核心技术问题.力学进展. 1996, 26(2): 166~178
5 Tzou, H.S. Piezoelectric Shells (Distributed Sensing and Control of Continua). Kluwer Academic Publishers, 1993:310~380
6 Rogers, C.A., Ed. Smart Materials, Structures, and Mathematical Issues. Technomic Publishers, 1988:107~118
7 Tzou, H.S., Anderson, G.L. Intelligent Structural Systems. Kluwer Academic Publishers, 1992:157~180
8 Tzou, H.S, Guran, A., Anderson, G.L, etc. Structronic Systems: Smart Structures, Devices, and Systems. World Scientific Publishers, 1997:40~53
9李超,李琳.磁致伸缩材料作动器用于主动振动控制的实验研究.航空动力学报. 2003, 18(1): 134~139
10 Baily, T., Hubbard, J.E. Distributed Piezoelectric Polymer Active Vibration Control of a Cantilever Beam. Journal of Guidance, Control, and Dynamics. 1985, 8(5): 605~611
11 Crawley, E.F., De Luis. Use of Piezoelectric Actuators as Elements of Intelligent Structures. AIAA Journal. 1987, 25(10): 1373~1385
12 Tzou, H.S. Active Vibration Control of Flexible Structures Via Converse Piezoelectricity. Developments in Mechanics. 1987, (14): 1201~1206.
13 Wada, B.K., Fanson, J.L. and Crawley, E.F. Adaptive Structures. ASME WAM. 1989, (15): 188~198
14 Gandhi, M.V., Thompson, B.S. Smart Materials and Structures. Chapman and Hall, New York, 1992:246~260
15李山青,刘正兴,杨耀文.压电材料在智能结构形状和振动控制中的应用.力学进展. 1999, 29(1): 66~76
16黄世民.智能材料的研究与展望.航空科学技术. 1999,(1): 22~24
17叶云岳.现代驱动技术与智能化.浙江大学出版社, 2001:20~24
18 Fridkin, V.M. Photoferroelectrics. Springer Verlag. 1979:321~326
19 Brody, P.S. Optomechanical Bimorph Actuator. Ferroelectrics. 1983, (50): 27~32
20 Uchino, K. Photostrictive Actuator. Proceedings IEEE Ultrasonics Symposium. 1990, (5)721~723
21 Morikawa, Y., Nakada, T., Cao, D. H. Estimation of Dynamic Characteristics of Bimorph Type Optical Actuator and Proposal of Opto Pneumatic Servo System. Journal of Mechanical Engineering Laboratory (Japanese). 1993, (47): 237~246
22 Tzou, H.S, Ye, R. Piezothermoelasticity and Precision Control of Piezoelectric Laminates: Theory and Finite Element Analysis. ASME Journal of Vibration and Acoustics. 1994, 116(4): 489~495
23 Liu, B., Tzou, H.S. Photodeformation and Light Temperature Electric Coupling of Optical Actuators: Part 1: Parameter Calibration and Part 2: Vibration Control. Proceedings of ASME Aerospace Division. 1996: 663~678
24 Tzou, H.S, Chou, C. S. Nonlinear Opto-electro-mechanics and Photo-deformation of Optical Actuators. Journal of Smart Materials and Structures. 1996, (5): 230~235
25 Tzou, H.S, Liu, B. Study of Spatially Distributed Opto Mechanical Shell Actuators Active control of Vibration and Noise. ASME International Congress. 1996, (93): 305~314
26 Tzou, H.S, Bao, J.H., David C. Opto-piezothermoelastic Actions and Micro-control Sensitivity Analysis of Cylindrical Opto-mechanical Shell Actuators. Journal of theoretical and applied mechanics. 2002, (3): 775~796
27 Dongchang Sun, Liyong Tong. Modeling of wireless remote shape control for beams using nonlinear photostrictive actuators. International Journal of Solids and Structures. 2007, (44): 672~684
28 Shoko KIKUCHI, Kenta TAKAGI, Ryuzo WATANABE. Photostrictive Characteristics of Fine-Grained PLZT Ceramics Derived from Mechanically Alloyed Powder. Journal of the Ceramic Society of Japan. 2004,112(10):572~576
29 H. H. Yue, Z. Q. Deng, H. S. Tzou. Non-contact precision actuation and optimal actuator placement of hybrid photostrictive beam structure systems. ASME IDETC2007 Proceeding, LasVegas USA, 2007
30 Shih, H. R., Tzou, H. S., etc. Structural Vibration Control Using Spatially Configured Opto-Electromechanical Actuator. Journal of Sound and Vibration. 2005, 284(1): 361~378
31 Shih, H.R., Tzou, H.S. Wireless Control of Parabolic Shells Using Photostrictive Actuators. Proceedings of IMECE2006, Chicago, USA, 2006:1~10,
32 Shih, H.R., Tzou, H.S. Photostrictive Actuators for Photonic Control of Shallow Spherical Shells. Smart Materials and Structures. 2007, (6): 712~1717
33 Uchino, K. Micro Walking machine Using Piezoelectric Actuators. Journal of Robotics and Mechatronics. 1989, (12): 44~47
34 Poosanaas, P., Tonooka, K., Uchino, P. Photostrictive Actuators, Mechatronics. 2000, (6): 467~487
35柏朝晖,巴学巍.锆钛酸铅镧(PLZT)陶瓷材料的纤维结构和性能.长春理工大学学报. 2005,28(2): 79~83
36程达明. PLZT光致伸缩陶瓷的制备及其性能与组分关系研究.清华大学硕士学位论文,2005
37苗彬彬,王君,陈江涛,闫鹏勋.铁电PLZT薄膜的最新研究进展.人工晶体学报, 2006, 35(3): 539~544
38厉宝增.关于光电陶瓷PLZT稀土掺杂的发光特性研究及其电光特性的应用.中国科学技术大学博士学位论文, 2007
39王永龄.功能陶瓷性能与应用.科学出版社. 2003:11~14
40杨宜民.新型作动器及其应用.机械工业出版社, 1998:75~80
41黄学良,叶飞.基于新型光电材料PLZT的光电机研究.光电工程. 2007,38(12):138~144
42郑鑫森,郑芝凤,束慧君,敖海宽. PLZT陶瓷中的光致伏特效应的研究.功能材料, 1991, 22(6): 351~355
43张显奎,李洪人,许耀铭. PLZT陶瓷的光伏效应研究.功能材料, 1996, 27(4): 311~314
44张显奎,徐本州,许耀铭. PLZT陶瓷双压电晶体型光执行器件动特性研究.仪器仪表学报, 1997, 18(4): 349~353
45 Tzou, H.S., Zhu, Y.T., Hagivara. Distributed precision control of structronic shells and common shapes-A new approach. Sound and Vibration. 2002, (1): 613~645
46 B. Liu, H.S. Tzou. Distributed photostrictive actuation and opto-piezothermoelasticity applied to vibration control of plates. Journal of Vibration and Acoustics. 1998, (120): 937~943
47 Hui-Ru Shih, H.S. Tzou. Opto-piezothermoelastic constitutive modeling of a new 2-d photostrictive composite plate actuator. Proceeding of ASME IMECE. 2000, (61):1~8
48 T.R. Tauchert. Piezothermoelastic behavior of laminated plate. Journal of Thermal Stressess. 1992, (15): 25~37
49 Hui-Ru Shih, Roderick Smith, Tzou, H.S. Photonic control of cylindrical shells with electro-optic photostrictive actuators. AIAA Journal. 2004, (42): 341~347
50 Fukuda, T., Hattori, S., Arai, F., etc. Characteristics of Optical Actuator-Servomechanisms using Bimorph Optical Piezoelectric Actuator. Proceedings of IEEE Robotics and Automation Conference, Atlanta, 1993: 618~623
2邱志成.智能结构及其在振动主动控制中的应用.航天控制. 2002, (4): 8~15
3王晓明,沈亚鹏.机敏材料和机敏结构的力学分析.力学进展. 1995, 25(2): 209~221
4董聪,夏人伟.智能结构设计与控制中的若干核心技术问题.力学进展. 1996, 26(2): 166~178
5 Tzou, H.S. Piezoelectric Shells (Distributed Sensing and Control of Continua). Kluwer Academic Publishers, 1993:310~380
6 Rogers, C.A., Ed. Smart Materials, Structures, and Mathematical Issues. Technomic Publishers, 1988:107~118
7 Tzou, H.S., Anderson, G.L. Intelligent Structural Systems. Kluwer Academic Publishers, 1992:157~180
8 Tzou, H.S, Guran, A., Anderson, G.L, etc. Structronic Systems: Smart Structures, Devices, and Systems. World Scientific Publishers, 1997:40~53
9李超,李琳.磁致伸缩材料作动器用于主动振动控制的实验研究.航空动力学报. 2003, 18(1): 134~139
10 Baily, T., Hubbard, J.E. Distributed Piezoelectric Polymer Active Vibration Control of a Cantilever Beam. Journal of Guidance, Control, and Dynamics. 1985, 8(5): 605~611
11 Crawley, E.F., De Luis. Use of Piezoelectric Actuators as Elements of Intelligent Structures. AIAA Journal. 1987, 25(10): 1373~1385
12 Tzou, H.S. Active Vibration Control of Flexible Structures Via Converse Piezoelectricity. Developments in Mechanics. 1987, (14): 1201~1206.
13 Wada, B.K., Fanson, J.L. and Crawley, E.F. Adaptive Structures. ASME WAM. 1989, (15): 188~198
14 Gandhi, M.V., Thompson, B.S. Smart Materials and Structures. Chapman and Hall, New York, 1992:246~260
15李山青,刘正兴,杨耀文.压电材料在智能结构形状和振动控制中的应用.力学进展. 1999, 29(1): 66~76
16黄世民.智能材料的研究与展望.航空科学技术. 1999,(1): 22~24
17叶云岳.现代驱动技术与智能化.浙江大学出版社, 2001:20~24
18 Fridkin, V.M. Photoferroelectrics. Springer Verlag. 1979:321~326
19 Brody, P.S. Optomechanical Bimorph Actuator. Ferroelectrics. 1983, (50): 27~32
20 Uchino, K. Photostrictive Actuator. Proceedings IEEE Ultrasonics Symposium. 1990, (5)721~723
21 Morikawa, Y., Nakada, T., Cao, D. H. Estimation of Dynamic Characteristics of Bimorph Type Optical Actuator and Proposal of Opto Pneumatic Servo System. Journal of Mechanical Engineering Laboratory (Japanese). 1993, (47): 237~246
22 Tzou, H.S, Ye, R. Piezothermoelasticity and Precision Control of Piezoelectric Laminates: Theory and Finite Element Analysis. ASME Journal of Vibration and Acoustics. 1994, 116(4): 489~495
23 Liu, B., Tzou, H.S. Photodeformation and Light Temperature Electric Coupling of Optical Actuators: Part 1: Parameter Calibration and Part 2: Vibration Control. Proceedings of ASME Aerospace Division. 1996: 663~678
24 Tzou, H.S, Chou, C. S. Nonlinear Opto-electro-mechanics and Photo-deformation of Optical Actuators. Journal of Smart Materials and Structures. 1996, (5): 230~235
25 Tzou, H.S, Liu, B. Study of Spatially Distributed Opto Mechanical Shell Actuators Active control of Vibration and Noise. ASME International Congress. 1996, (93): 305~314
26 Tzou, H.S, Bao, J.H., David C. Opto-piezothermoelastic Actions and Micro-control Sensitivity Analysis of Cylindrical Opto-mechanical Shell Actuators. Journal of theoretical and applied mechanics. 2002, (3): 775~796
27 Dongchang Sun, Liyong Tong. Modeling of wireless remote shape control for beams using nonlinear photostrictive actuators. International Journal of Solids and Structures. 2007, (44): 672~684
28 Shoko KIKUCHI, Kenta TAKAGI, Ryuzo WATANABE. Photostrictive Characteristics of Fine-Grained PLZT Ceramics Derived from Mechanically Alloyed Powder. Journal of the Ceramic Society of Japan. 2004,112(10):572~576
29 H. H. Yue, Z. Q. Deng, H. S. Tzou. Non-contact precision actuation and optimal actuator placement of hybrid photostrictive beam structure systems. ASME IDETC2007 Proceeding, LasVegas USA, 2007
30 Shih, H. R., Tzou, H. S., etc. Structural Vibration Control Using Spatially Configured Opto-Electromechanical Actuator. Journal of Sound and Vibration. 2005, 284(1): 361~378
31 Shih, H.R., Tzou, H.S. Wireless Control of Parabolic Shells Using Photostrictive Actuators. Proceedings of IMECE2006, Chicago, USA, 2006:1~10,
32 Shih, H.R., Tzou, H.S. Photostrictive Actuators for Photonic Control of Shallow Spherical Shells. Smart Materials and Structures. 2007, (6): 712~1717
33 Uchino, K. Micro Walking machine Using Piezoelectric Actuators. Journal of Robotics and Mechatronics. 1989, (12): 44~47
34 Poosanaas, P., Tonooka, K., Uchino, P. Photostrictive Actuators, Mechatronics. 2000, (6): 467~487
35柏朝晖,巴学巍.锆钛酸铅镧(PLZT)陶瓷材料的纤维结构和性能.长春理工大学学报. 2005,28(2): 79~83
36程达明. PLZT光致伸缩陶瓷的制备及其性能与组分关系研究.清华大学硕士学位论文,2005
37苗彬彬,王君,陈江涛,闫鹏勋.铁电PLZT薄膜的最新研究进展.人工晶体学报, 2006, 35(3): 539~544
38厉宝增.关于光电陶瓷PLZT稀土掺杂的发光特性研究及其电光特性的应用.中国科学技术大学博士学位论文, 2007
39王永龄.功能陶瓷性能与应用.科学出版社. 2003:11~14
40杨宜民.新型作动器及其应用.机械工业出版社, 1998:75~80
41黄学良,叶飞.基于新型光电材料PLZT的光电机研究.光电工程. 2007,38(12):138~144
42郑鑫森,郑芝凤,束慧君,敖海宽. PLZT陶瓷中的光致伏特效应的研究.功能材料, 1991, 22(6): 351~355
43张显奎,李洪人,许耀铭. PLZT陶瓷的光伏效应研究.功能材料, 1996, 27(4): 311~314
44张显奎,徐本州,许耀铭. PLZT陶瓷双压电晶体型光执行器件动特性研究.仪器仪表学报, 1997, 18(4): 349~353
45 Tzou, H.S., Zhu, Y.T., Hagivara. Distributed precision control of structronic shells and common shapes-A new approach. Sound and Vibration. 2002, (1): 613~645
46 B. Liu, H.S. Tzou. Distributed photostrictive actuation and opto-piezothermoelasticity applied to vibration control of plates. Journal of Vibration and Acoustics. 1998, (120): 937~943
47 Hui-Ru Shih, H.S. Tzou. Opto-piezothermoelastic constitutive modeling of a new 2-d photostrictive composite plate actuator. Proceeding of ASME IMECE. 2000, (61):1~8
48 T.R. Tauchert. Piezothermoelastic behavior of laminated plate. Journal of Thermal Stressess. 1992, (15): 25~37
49 Hui-Ru Shih, Roderick Smith, Tzou, H.S. Photonic control of cylindrical shells with electro-optic photostrictive actuators. AIAA Journal. 2004, (42): 341~347
50 Fukuda, T., Hattori, S., Arai, F., etc. Characteristics of Optical Actuator-Servomechanisms using Bimorph Optical Piezoelectric Actuator. Proceedings of IEEE Robotics and Automation Conference, Atlanta, 1993: 618~623