摘要
超磁致伸缩材料拥有大磁致伸缩系数,高能量密度、低驱动磁场、快速响应能力等特点,存在于材料本身的磁致伸缩正逆效应使其既可以用于驱动又可以用于传感,因此以超磁致伸缩材料为核心元件的各种器件的理论研究与工程应用已引起了国内外学者的广泛关注,尤其是超磁致伸缩执行器,由于具有的输出位移和力大、响应速度快、温度范围宽、低压可操作等突出优点,在国内外已经掀起了一股研究热潮。
目前超磁致伸缩执行器的研究主要集中在对其输出位移的研究,而关于执行器输出力的研究相对较少,本文针对以力的形式输出的超磁致伸缩执行器在精密与超精密加工领域中应用的需要,以超磁致伸缩执行器的输出力为直接研究对象进行了建模与实验研究。建立了超磁致伸缩执行器输出力的Preisach模型,测量了主磁滞回线和一阶折返线,得出了Preisach模型的F函数表,进行了如下两种预测实验：一是已知输入电流预测执行器的输出力；二是Preisach模型的非线性补偿,即已知期望的输出力,反求系统的输入电流,使系统的实际输出尽量接近期望的目标力。在进行非线性补偿实验时,提出了基于均值迟滞线和动态步长的Preisach模型非线性补偿方法,并与另外两种非线性补偿算法进行了实验比较,最后运用该方法对正弦曲线进行了非线性补偿实验研究。
在对执行器的输出力建模与实验研究之后,进行了执行器的输出力控制研究。介绍了执行器输出力控制系统的组成与控制方法,完善了控制系统的硬件并编写了控制系统的软件。设计了基于Preisach模型前馈补偿的PID控制算法,并进行了实验研究：即改变执行器的输出力控制目标,测试不同的控制方法对执行器达到目标力的控制效果。针对执行器的恒力控制,分析了恒力控制原理,提出了利用Preisach模型前馈补偿求解电流与变速积分PID相结合的控制方法。即,先利用前馈补偿确定执行器输出力达到目标力时的电流,使输出力快速接近恒力目标,再通过变速积分PID控制方法,使输出力精确达到恒力目标,实现执行器的恒力控制。实验结果表明：当对执行器施加位移扰动后,控制系统能够控制执行器输出位移快速跟进,使输出力保持在恒力目标值附近,与变速积分PID控制方法相比,加快了调节速度。
本文关于超磁致伸缩执行器的输出力模型及控制方法的研究成果,为执行器输出力的工程应用提供了借鉴,在精密、超精密加工领域中具有良好的应用前景,如精密机械抛光加工中的压力控制,需要一种具有恒定输出力或输出力可控的驱动机构；在恒力切削方面也有良好的应用前景。
Because of its magnetostriction positive and inverse effect, the giant magnetostrictive material can either be used to drive or sense. With characteristics of a large magnetostriction coefficient, high energy density, low driving magnetic field, and rapid response capacity, the giant magnetostrictive material and its related devices have been extensively studied for application, especially the giant magnetostrictive actuator, which has set off a wave of research boom with the highlight of large output displacement and force, wide temperature range and low-voltage operationa.
Now there have been a large number of studies on giant magnetostrictive actuator output displacement, but few studies on the output force. To meet the need of applications of output force giant magnetostrictive actuator in precision and ultra precision machining, the article made theorial and experimental research with the study object of output force for giant magnetostrictive actuator. The study established a Preisach model of giant magnetostrictive actuator output force, measured the main hysteresis loop and first order reentrant line, and obtained the table of F function for the Preisach model, then completed two experiments:first, predicting the output force of actuator under the premise of input current; second, nonlinear compensating of Preisach model, which is to seek the input current under the premise of desired output force. A non-line compensation method was put forward based on mean hysteresis line and dynamic step for Preisach model during the experiment of nonlinear compensation, and then two comparison test was made. Finally, the nonlinear compensation experiment of sinusoidal was studied.
After seting up the model of output force for actuator, output force control of actuator was reseached, and output force control system component and control method was presented while the hardware and software of control system was improved. Then a PID control algorithm was designed with the feedforward compensation based on the Preisach model, and experiment was studied, which is to test the effect of achieving the target force of different control methods. As for constant control of actuator, the principle of constant force control was analyzed, and the method of combination between feed-forward compensation based on Preisach model and PID control was proposed. Its process is as follows:first use the feed-forward compensation to determine the current when actuator output force get to the target which will make the output force fast approach constant target, then obtain the constant force by variable speed integral PID control method. The experiment result showed that when the displacement disturbance was imposed on the actuator, the control system can control the actuator displacement and maintain the constant force at the target, the adjustment speed was accelarated compared with variable speed integral PID control method.
The study's results about the model and control method of the giant magnetostrictive actuator output force provide a reference for the engineering application of the actuator output force, and have a good application prospects in the field of precision and ultra precision machining such as pressure control in precision mechanical polishing which has the need for a constant output force or output force controllable, and in the field of constant cutting it also has a good prospect.
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