磁控形状记忆合金特性及其执行器应用基础研究
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摘要
磁控形状记忆合金(Magnetically Controlled Shape Memory Alloy简称MSMA)是近几年出现的一种新型功能材料,该材料在马氏体条件下外加磁场可以使其有较大的变形率,并具有形状记忆功能,力能密度大,响应频率高,有望成为新一代智能驱动器和传感器的关键材料。目前国内外对其研究主要集中在微观结构、温度和材料组成成分、磁感生应变等方面,对其应用研究较少。本文主要在对MSMA材料特性实验研究的基础上,进行了该种材料在执行器中的应用基础研究。
首先研究了MSMA的变形机理、马氏体择优取向的过程,分析了MSMA样品的微观结构和物理特性。然后根据相界面摩擦理论,推导了MSMA系统热力学参量的表达式,计算了不同样品马氏体相变过程中界面摩擦所消耗的能量。结果表明相界面运动消耗的能量仅占相变潜热的很小部分,且相变潜热越大,相界面运动的摩擦耗能越小,正是相变过程中的界面摩擦导致了相变的热滞后。
由于MSMA材料的温度、压力、磁场和变形率之间是一个复杂的非线性多变量系统,目前难以对其特性进行定量分析,为此利用自行设计的实验装置,对MSMA材料在不同温度、磁场、预压力下的外特性进行了系统的实验研究,提出了一种测量MSMA材料相对导磁率的方法,研究了利用弹簧恢复形变的静、动态变化规律,并对导磁率的非线性关系进行了实验研究。在实验研究的基础上,建立了忽略温度变化的执行器系统的数学模型。
尽管MSMA的变形率较大,但直接用以制造大行程的直线驱动器比较困难,一是需要用较多的MSMA材料,成本较高;二是体积大所需励磁功率较大。因此利用仿生学蠕动原理设计了MSMA直线驱动器,将MSMA小步距的位移累加形成直线驱动器所需要的大行程。设计制作了样机,实现了大步距的双向运动,对励磁电流、位移和通电频率之间的关系进行了探讨。
提出了一种采用永磁体产生偏磁磁场的MSMA差动控制策略,可以减小励磁功率、消除温度影响和提高控制精度。研制了首台差动式MSMA执行器实验样机,进行了交、直流实验研究,验证了控制策略和设计方法的可行性。
Magnetically controlled shape memory alloy (MSMA) is a new functional material which is found in recent years. MSMA has characteristics of large deformation rate and high response frequency in the martensite state. It is an important potential material for the next generation of intelligent actuators and sensors. So far, researches on MSMA are mainly concentrated on its properties under the changes of microstructure, temperature and components, while few researches are done on its application. The main contribution of this dissertation is the deep experimental study of an MSMA actuator.At first, the deform principle and the preferred orientation process of MSMA are studied, the microstructure and physical characteristics of the MSMA sample have been analyzed. According to the theory of phase interface friction, the expression of the thermodynamics parameter of MSMA has been deduced. The friction loss on the interface of different samples in the course of the martensite phase transformation has been calculated. The results show that the loss energy in the movement of the phase interface only occupies a little part of the latent heat of phase transformation. The larger the latent heat of phase transformation is, the less the friction loss of phase interface movement will be. By the analysis, just the interface friction during the phase transformation causes the thermal hysteresis of phase transformation.Because the relationships of temperature, magnetic field, pre-press and deformation are nonlinear, it is difficult to analyze quantitavely its characteristics. So an experimental device for study of the MSMA was designed and built. The characteristics of MSMA under different temperature, magnetic field and pre-press were studied. A measurement method for MSMA relative permeability was advanced, too. In addition the method of recovery deformation was discussed and the dynamic variation rules of recovery deform by spring was studied, the nonlinear relationship of magnetic permeability of MSMA has been studied. Neglecting the temperature change, the mathematic model of the system has been established.Although the deformation rate of MSMA is high, it is difficult to realize the linear actuator with large pace. The first reason is that the production cost is high because it needs a mounts of material. The second is that the exciting power is large with the large bulk. By utilizing bionic inchworm principle, a MSMA linear actuator has been developed successfully, the prototype and the control system have been designed, which has been realized bidirectional movement with large pace. Relationships of exciting current, displacement and power frequency are also studied.At last, using permanent magnetic generates bias magnetic field, a differential control strategy was put forward which can decrease exciting power, eliminate temperature influence and improve control precision. The designed of prototype and the analysis of magnetic field have been finished, which verified the feasibility of this method.
首先研究了MSMA的变形机理、马氏体择优取向的过程,分析了MSMA样品的微观结构和物理特性。然后根据相界面摩擦理论,推导了MSMA系统热力学参量的表达式,计算了不同样品马氏体相变过程中界面摩擦所消耗的能量。结果表明相界面运动消耗的能量仅占相变潜热的很小部分,且相变潜热越大,相界面运动的摩擦耗能越小,正是相变过程中的界面摩擦导致了相变的热滞后。
由于MSMA材料的温度、压力、磁场和变形率之间是一个复杂的非线性多变量系统,目前难以对其特性进行定量分析,为此利用自行设计的实验装置,对MSMA材料在不同温度、磁场、预压力下的外特性进行了系统的实验研究,提出了一种测量MSMA材料相对导磁率的方法,研究了利用弹簧恢复形变的静、动态变化规律,并对导磁率的非线性关系进行了实验研究。在实验研究的基础上,建立了忽略温度变化的执行器系统的数学模型。
尽管MSMA的变形率较大,但直接用以制造大行程的直线驱动器比较困难,一是需要用较多的MSMA材料,成本较高;二是体积大所需励磁功率较大。因此利用仿生学蠕动原理设计了MSMA直线驱动器,将MSMA小步距的位移累加形成直线驱动器所需要的大行程。设计制作了样机,实现了大步距的双向运动,对励磁电流、位移和通电频率之间的关系进行了探讨。
提出了一种采用永磁体产生偏磁磁场的MSMA差动控制策略,可以减小励磁功率、消除温度影响和提高控制精度。研制了首台差动式MSMA执行器实验样机,进行了交、直流实验研究,验证了控制策略和设计方法的可行性。
Magnetically controlled shape memory alloy (MSMA) is a new functional material which is found in recent years. MSMA has characteristics of large deformation rate and high response frequency in the martensite state. It is an important potential material for the next generation of intelligent actuators and sensors. So far, researches on MSMA are mainly concentrated on its properties under the changes of microstructure, temperature and components, while few researches are done on its application. The main contribution of this dissertation is the deep experimental study of an MSMA actuator.At first, the deform principle and the preferred orientation process of MSMA are studied, the microstructure and physical characteristics of the MSMA sample have been analyzed. According to the theory of phase interface friction, the expression of the thermodynamics parameter of MSMA has been deduced. The friction loss on the interface of different samples in the course of the martensite phase transformation has been calculated. The results show that the loss energy in the movement of the phase interface only occupies a little part of the latent heat of phase transformation. The larger the latent heat of phase transformation is, the less the friction loss of phase interface movement will be. By the analysis, just the interface friction during the phase transformation causes the thermal hysteresis of phase transformation.Because the relationships of temperature, magnetic field, pre-press and deformation are nonlinear, it is difficult to analyze quantitavely its characteristics. So an experimental device for study of the MSMA was designed and built. The characteristics of MSMA under different temperature, magnetic field and pre-press were studied. A measurement method for MSMA relative permeability was advanced, too. In addition the method of recovery deformation was discussed and the dynamic variation rules of recovery deform by spring was studied, the nonlinear relationship of magnetic permeability of MSMA has been studied. Neglecting the temperature change, the mathematic model of the system has been established.Although the deformation rate of MSMA is high, it is difficult to realize the linear actuator with large pace. The first reason is that the production cost is high because it needs a mounts of material. The second is that the exciting power is large with the large bulk. By utilizing bionic inchworm principle, a MSMA linear actuator has been developed successfully, the prototype and the control system have been designed, which has been realized bidirectional movement with large pace. Relationships of exciting current, displacement and power frequency are also studied.At last, using permanent magnetic generates bias magnetic field, a differential control strategy was put forward which can decrease exciting power, eliminate temperature influence and improve control precision. The designed of prototype and the analysis of magnetic field have been finished, which verified the feasibility of this method.
引文
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