摘要
压电驱动元件目前已经广泛应用于智能材料结构之中,但是由于其驱动位移比较小,平面内各向同性等缺点,难以满足实际需要。为了促进智能材料结构的实用化,必须对其进一步研究。
交叉指形电极IDE(Interdigitated Electrodes)压电元件是一种采用新型电极技术的压电驱动元件。元件充分利用了纵向伸缩压电效应和较大的压电常数,不但使元件驱动应变的提高成为可能,而且元件具有了平面内的正交异性。作为驱动元件,能够在特定方向上施加力或变形,适合在扑翼飞行器中的应用。
扑翼飞行器作为一种具有复杂的运动方式,集多种前沿技术为一体的微型机器人系统,无论在军事还是在民用领域都有广阔的应用前景。围绕IDE压电元件和扑翼飞行器仿生翼的控制,展开了相应的研究。
本文的主要研究成果和创新点包括:
1.建立了利用纵向长度伸缩压电效应的压电元件的本构关系方程;基于拉格朗日函数和哈密尔顿原理,推导了压电元件的动力学有限元方程;
2.利用有限元法对AFCs/MFC元件的力学和电学性能进行分析,给出了应力、应变和电场分布图,得到了组分材料和结构参数对元件应力、应变和静电场分布的影响关系,在此基础上给出了AFCs/MFC元件的优化设计;另外,建立了单一材料IDE压电元件的均匀场模型和有限元模型,对其进行了力学性能分析,得到其应力和应变分布状态,找出了一些规律;
3.制备了单一材料IDE压电元件,用有限元谐响应分析法和阻抗试验法研究了其谐振频率和温度稳定性,检测了元件在机械自由状态下的变形性能,研究了极化工艺对元件自由变形性能的影响,给出了最优极化工艺条件;
4.系统分析了扑翼飞行器设计中的尺度律问题和昆虫翅膀产生高升力的机理;建立了扑翼飞行器和仿生翼的运动方程,推导了扑翼飞行器和仿生翼的速度与加速度方程,对仿生翼气动力进行了理论分析和仿真研究;
5.设计了拍动结构和集成MFC元件的仿生翼,并对集成MFC元件的仿生翼进行了初步的试验研究,给出了进一步研究的方向。
Piezoelectric actuators had been used widely in the intelligent materials & structures. However, some disadvantages, especially the low induced displacement and isotropic laminate layers, deeply limit their applications requiring off-axis or twisting motions. They should be researched further for adapting to the development of the intelligent materials & structures.
IDE(Interdigitated Electrodes) actuators are denominated by electrical connections configuration which are made through a separate Interdigitated Electrode (IDE) layer having alternating finger-to-finger polarity. The Interdigitated Electrodes effectively align the electric field and polarization with the long axis of the piezoelectric actuators, enabling the use of the primary piezoelectric effect: longitudinal length extension vibration mode and piezoelectric strain constant d33, to enhance the directionality of the electromechanical response. IDE actuators are suit for the flapping wing by the advantageous features, namely, directional actuation and high strain energy density.
Flapping wing is a complicated intelligent robot with new locomotion method, which would find its extensive application for military and civilian purpose. IDE actuators and flapping wing are researched in the paper. The major contributions and original researches in the dissertation are summarized as follows.
1. A series of piezoelectric unit’s equations about longitudinal length extension vibration mode are established. According to the dynamic FEM(finite element method) equations for piezoelectric actuator, which are established by means of Lagrange function and Hamilton principle, a series of finite models are established.
2. The performance of mechanics and electrics is analyzed in detail. FEM is employed to numerically research the influence of composite materials and dimensions of each phase on the AFCs/MFC actuator’s induced strain, stress and electrostatic field. The distribution of stain, stress and electrostatic field inside the AFCs/MFC structures is given by FEM. Then the optimization is presented. Response of the IDE piezoelectric ceramics actuator is predicted through the advancement of Uniform Fields and FEM. These models predict the mechanical and electrical properties effectively. Several rules are summed.
3. IDE piezoelectric ceramics actuators are made from PZT-51. Harmonic analysis of IDE piezoelectric ceramics actuators are made using the software ANSYS in detail. In addition, resonance frequency is extracted using impedance analysis instrument. To research the influences of polarizing technique (time, temperature and voltage) on actuators, induce strains of IDE piezoelectric ceramics actuators is studied by a lot of experiments, from which the optimal polarizing technique is gotten.
4. The Scaling effect and unsteady aerodynamic force generation by flapping wings of insects and small birds is analyzed. Motion equations for flapping wing and bionic wing are established. Then a set of velocity and acceleration equations for flapping wing and bionic wing are derived. The aerodynamic forces which produced by two flapping wings are calculated.
5. The flapping models and bionic wings are designed, which are integrated with MFC units. Primary research experiments of the integrated wings have been done, which offer the directions for further study.
引文
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