压电扭转驱动器及其在柔性杆扭转振动控制中的应用研究
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摘要
针对柔性杆的扭转振动主动控制问题,结合国家自然科学基金项目的研究任务,本文对柔性杆的扭转振动主动控制技术进行了系统、深入的理论和试验研究,设计了一种基于压电材料的扭转振动驱动器,采用粒子群算法对驱动器、传感器的布局位置进行了优化配置,并组建了柔性杆系统扭转振动控制试验平台,通过理论分析、数值仿真与实验研究,获得了较好的振动抑振效果。
第一章综述了扭转振动控制的研究意义与背景,阐述了扭转振动主动控制所采用的扭转传感器、扭转驱动器、振动控制中的常用控制算法以及国内外扭转振动控制的研究现状,最后论述了本论文的主要研究内容。
第二章概述了压电材料的压电效应和压电方程,设计了一种基于d_(15)压电效应的采用轴向极化方式的压电扭转驱动器,并推导了此驱动器的输出扭矩,接着阐述了此驱动器的制作加工工艺,最后论述了电阻应变传感器测量扭转振动的基本原理。
第三章提出了一种由柔性杆、压电扭转驱动器和电阻应变传感器组成的柔性杆系统,针对此柔性杆系统中压电驱动器、传感器的位置优化配置问题推导了系统的动力学方程,得出了系统状态空间表达式。选取最大耗能准则为优化准则,运用粒子群算法对压电驱动器、传感器的布局位置进行了优化。
第四章简述了PID控制算法在主动控制的应用,考察了扭转振动驱动器的控制效果,并对驱动器分别配置在根部、中部和末端三种状况进行了仿真分析,验证了相关位置优化理论的正确性。
第五章构建了基于工业PC机为核心的柔性杆系统的振动主动控制试验系统,对试验系统的硬件、软件进行了阐述,采用PID控制进行了柔性杆系统的扭转振动主动控制试验研究。试验结果验证了相关位置优化理论的正确性。
第六章对全文进行了总结,并对未来的工作进行了展望。
Aiming at the active vibration control of space flexible bar and combined with the National Natural Science Foundation Project, the active torsional vibration control of a space flexible bar were investigated theoretically and experimentally in this dissertation. A piezoelectric torsional actuator was designed, and optimal placement position of the actuator/sensor was carried out using particle swarm optimization. The experimental system of the flexible bar system was founded, the simulations and experiments were carried out, the results show the proposed method of active torsional vibration control of the flexible bar system is effective and feasible.
In chapter one, the research significance and background information of torsional vibration control were presented. Then the torsional sensor, torsional actuator, conventional control algorithms in active vibration control and the main research status home and abroad were all introduced. At last, the main research content of this dissertation was presented.
In chapter two, the piezoelectric effect and the piezoelectric constitutive equations were presented. A piezoelectric torsional actuator was designed using axial poling method, and the output torque of the actuator was derived. The fabrication method of the piezoelectric torsional actuator was discussed. The fundamental of the strain gauge in testing torsional vibration was investigated.
In chapter three, a space flexible structure consisting of a flexible bar, a piezoelectric torsional actuator and strain gauges was proposed. Aiming at the optimization placement of the actuator/sensor, the dynamic governing equation of the system was derived, and the state-space expression of the dynamic system was developed. The optimization process of the actuator/sensor was carried out using particle swarm optimization based on the optimization algorithm of maximum energy consumed.
In chapter four, the use of PID control algorithm in active vibration control was discussed, the result of vibration control was reviewed. Also an active control simulation was implemented when the actuator/sensor was placed in bottom position, middle position and end position respectively. The theory of the optimization placement was confirmed by the simulation result.
In chapter five, experimental system of the flexible bar was founded, and the corresponding hard ware and soft ware of the experimental system was summarized. Active vibration control research of the flexible bar system was carried out in term of PID control. The theory of the optimization placement was confirmed by the experiment result.
In chapter six, some conclusions were made, and the future work was proposed.
第一章综述了扭转振动控制的研究意义与背景,阐述了扭转振动主动控制所采用的扭转传感器、扭转驱动器、振动控制中的常用控制算法以及国内外扭转振动控制的研究现状,最后论述了本论文的主要研究内容。
第二章概述了压电材料的压电效应和压电方程,设计了一种基于d_(15)压电效应的采用轴向极化方式的压电扭转驱动器,并推导了此驱动器的输出扭矩,接着阐述了此驱动器的制作加工工艺,最后论述了电阻应变传感器测量扭转振动的基本原理。
第三章提出了一种由柔性杆、压电扭转驱动器和电阻应变传感器组成的柔性杆系统,针对此柔性杆系统中压电驱动器、传感器的位置优化配置问题推导了系统的动力学方程,得出了系统状态空间表达式。选取最大耗能准则为优化准则,运用粒子群算法对压电驱动器、传感器的布局位置进行了优化。
第四章简述了PID控制算法在主动控制的应用,考察了扭转振动驱动器的控制效果,并对驱动器分别配置在根部、中部和末端三种状况进行了仿真分析,验证了相关位置优化理论的正确性。
第五章构建了基于工业PC机为核心的柔性杆系统的振动主动控制试验系统,对试验系统的硬件、软件进行了阐述,采用PID控制进行了柔性杆系统的扭转振动主动控制试验研究。试验结果验证了相关位置优化理论的正确性。
第六章对全文进行了总结,并对未来的工作进行了展望。
Aiming at the active vibration control of space flexible bar and combined with the National Natural Science Foundation Project, the active torsional vibration control of a space flexible bar were investigated theoretically and experimentally in this dissertation. A piezoelectric torsional actuator was designed, and optimal placement position of the actuator/sensor was carried out using particle swarm optimization. The experimental system of the flexible bar system was founded, the simulations and experiments were carried out, the results show the proposed method of active torsional vibration control of the flexible bar system is effective and feasible.
In chapter one, the research significance and background information of torsional vibration control were presented. Then the torsional sensor, torsional actuator, conventional control algorithms in active vibration control and the main research status home and abroad were all introduced. At last, the main research content of this dissertation was presented.
In chapter two, the piezoelectric effect and the piezoelectric constitutive equations were presented. A piezoelectric torsional actuator was designed using axial poling method, and the output torque of the actuator was derived. The fabrication method of the piezoelectric torsional actuator was discussed. The fundamental of the strain gauge in testing torsional vibration was investigated.
In chapter three, a space flexible structure consisting of a flexible bar, a piezoelectric torsional actuator and strain gauges was proposed. Aiming at the optimization placement of the actuator/sensor, the dynamic governing equation of the system was derived, and the state-space expression of the dynamic system was developed. The optimization process of the actuator/sensor was carried out using particle swarm optimization based on the optimization algorithm of maximum energy consumed.
In chapter four, the use of PID control algorithm in active vibration control was discussed, the result of vibration control was reviewed. Also an active control simulation was implemented when the actuator/sensor was placed in bottom position, middle position and end position respectively. The theory of the optimization placement was confirmed by the simulation result.
In chapter five, experimental system of the flexible bar was founded, and the corresponding hard ware and soft ware of the experimental system was summarized. Active vibration control research of the flexible bar system was carried out in term of PID control. The theory of the optimization placement was confirmed by the experiment result.
In chapter six, some conclusions were made, and the future work was proposed.
引文
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