CN104092404A - Giant magnetostrictive system in structural active control - Google Patents
Giant magnetostrictive system in structural active control Download PDFInfo
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- CN104092404A CN104092404A CN201410334679.8A CN201410334679A CN104092404A CN 104092404 A CN104092404 A CN 104092404A CN 201410334679 A CN201410334679 A CN 201410334679A CN 104092404 A CN104092404 A CN 104092404A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 37
- 230000002463 transducing effect Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 15
- 230000003993 interaction Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 2
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000002910 structure generation Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The invention relates to a giant magnetostrictive system in structural active control. The giant magnetostrictive system comprises a giant magnetostrictive drive system and a controlled structure driven by the giant magnetostrictive drive system to act. The drive system comprises a controller and a driver. The giant magnetostrictive system further comprises a force sensor and a displacement sensor, wherein the force sensor is used for detecting output force of the driver and converting the output force into force sensing signals, the displacement sensor is used for detecting displacement generated by the controlled structure and converting the displacement into displacement sensing signals, the output of the force sensor is fed back and connected to the driver, and the output of the displacement sensor is fed back to the controller and is fed back and connected to the driver. The giant magnetostrictive drive system further comprises a compensator used for compensating for deviation generated in the loading process of control signals output by the controller, wherein the input of the compensator is connected with the controller, and the output of the compensator is connected with the driver. By means of the giant magnetostrictive system, the complex interaction among multiple links is considered, and the multiple links are integrated and connected; consequently, the accuracy of the whole giant magnetostrictive drive control system can be further improved, and the control effect is further improved.
Description
Technical field
The present invention relates to a kind of be applied in Structure Active Control by super mangneto drive system and the super mangneto system that jointly formed by control structure.
Background technology
Be accompanied by the fast development of structural vibration control technology, the precision of structure control becomes the bottleneck of structural vibration control development, especially for micro-vibration, the precision of structure control is had to higher requirement.Conventionally improve the precision of controlling drives the driver of vibrations itself often precision by raising, the reciprocation of whole system complexity is often left in the basket, and these kinetic factors are often restricting control precision, make theoretical control precision and working control precision have deviation.
Summary of the invention
The object of this invention is to provide one and be applied in Structure Active Control, considered the complex interaction effect in whole system and the super mangneto system of the super mangneto system forming by drive system with by control structure being carried out to integrated linking.
For achieving the above object, the technical solution used in the present invention is:
Super mangneto system in a kind of Structure Active Control, comprise that super mangneto drive system is connected with described super mangneto drive system and under it drives action by control structure, described drive system comprises to be sent the controller of control signal and under the control of described control signal, drives the described driver being moved by control structure, described super mangneto system also comprises the power output that detects described driver the power transducer that is converted to power transducing signal, detect the described displacement being produced by control structure the displacement transducer that is converted to displacement sensing signal under the driving of described super mangneto drive system, the output of described power transducer transforms circuit feedback through force signal differential and is connected to described driver, the output of described displacement transducer feeds back to respectively described controller and transforms circuit feedback through displacement signal differential and is connected to described driver, described super mangneto drive system also comprises the compensator that the deviation of control signal appearance in the time loading that described controller is exported compensates, the input of described compensator is connected with described controller, the output of described compensator is connected with described driver.
Described displacement sensing signal feedback is connected to described compensator.
Described force signal differential transform loop comprise the first differentiator of being connected with described power transducer, with the first gain circuitry that the first described differentiator is connected, the output of the first described gain circuitry is connected with described driver; Described displacement signal differential transform loop comprise with described be positioned at the second differentiator that transducer is connected, with the second gain circuitry that the second described differentiator is connected, the output of the second described gain circuitry is connected with described driver.
Because technique scheme is used, the present invention compared with prior art has following advantages: super mangneto system of the present invention has realized considers the effect of multiple link complex interaction, each parts power coupling model to whole system carries out integrated linking, make the foundation of theoretical model, more approaching with control system realistic model, can further improve the precision of whole super mangneto driving control system, and the raising of control precision will further improve control effect.In micro-driving control system, there is significant economic benefit.
Brief description of the drawings
Accompanying drawing 1 is the structural representation of ultra-magnetic telescopic actuator.
The power electromagnetic model flow chart of the driver that accompanying drawing 2 is super mangneto system.
Accompanying drawing 3 is for considering by the model flow chart of the interactional super mangneto system between control structure and driver.
Accompanying drawing 4 is the illustraton of model of super mangneto system of the present invention.
In above accompanying drawing: 1, shell; 2, giant magnetostrictive rod; 3, guide rod; 4, pretension bolt; 5, dish spring; 6, pad; 7, cooling duct; 8, side wall of outer shell; 9, upper end cover; 10, bottom end cover; 11, coil.
Embodiment
Below in conjunction with embodiment shown in the drawings, the invention will be further described.
Embodiment mono-: the super mangneto system adopting in Structure Active Control generally includes super mangneto drive system and by control structure two parts.Super mangneto drive system comprises controller and driver, and it drives control for the instruction of sending according to controller to the structure (namely by control structure) of vibrations.Driver is ultra-magnetic telescopic actuator, and its structural representation as shown in Figure 1.This ultra-magnetic telescopic actuator comprises shell 1, be arranged at coil 11 in shell 1, be arranged at the giant magnetostrictive rod 2 of 11 of coils, be connected with giant magnetostrictive rod 2 and stretch out the guide rod 3 of shell 1.Shell 1 is made up of upper end cover 9, the bottom end cover 10 at side wall of outer shell 8 and its two ends again.Guide rod 3 is connected with shell 1 by pretension bolt 4, and at guide rod 3 places of the bottom of pretension bolt 4, dish spring 5 is installed.Between giant magnetostrictive rod 2 and shell 1, be provided with pad 6.Shell 1 and be wherein formed with cooling duct 7.Controller sends to be controlled voltage signal as instruction and exports to driver, and driver drives by control structure under the control of controlling voltage signal, makes its vibrations alleviate or reduce.The power electromagnetic model of driver is set up based on the ultra-magnetic telescopic actuator shown in accompanying drawing 1, as shown in Figure 2, and wherein,
ufor controlling voltage signal,
rfor coil resistance,
ifor the electric current (unit is A) of input coil,
nfor the total number of turns of coil,
nMFfor magnetomotive force (unit is A),
r m for the magnetic circuit reluctance of coil, (unit is H
-1),
k f for magnetic and power conversion gain,
Φfor the magnetic flux (unit is Vs) of coil, this magnetic flux is ignored eddy current effect to magnetomotive impact,
ffor the active force of driver output.The control voltage signal that driver input is exported by controller also obtains current signal by coil resistance by its transformation, under the effect of coil, produces magnetic field, and under the effect in this magnetic field, giant magnetostrictive rod 2 produces active force by extending or shortening.By coil, giant magnetostrictive rod 2 is applied to magnetic field, no matter magnetic field is positive and negative, and giant magnetostrictive rod 2 all will extend from home position, if giant magnetostrictive rod 2 is not applied to an initial bias magnetic field, frequency multiplication phenomenon will appear in this giant magnetostrictive rod 2.The conventional method that applies bias magnetic field has three kinds: permanent magnet, bias coil are set in structural design, or apply bias current.Permanent magnet and bias coil are set and are not easy to regulate and make complex structure.Pass into bias current and can reach the same effect that applies initial bias magnetic field, and simple structure, be convenient to regulate.Therefore in the structural design of driver, permanent magnet and bias coil are no longer set.
Power coupling design between ultra-magnetic telescopic actuator and structure, need to consider influencing each other and coupling model and setting up between the power electromagnetic model of ultra-magnetic telescopic actuator inside and structural dynamic, the power electromagnetic model of internal drive should mate with drive model, the magnetic hysteresis of driver is compensated by this model internal drive compensation tache, here no longer consider, the output signal of only considering this driver is to by the function influence of control structure and by the control structure effect to driver output end conversely, and then affect its inner power electromagnetism and set up overall closed loop coupling model.The system model of setting up as shown in Figure 3.
Super mangneto system shown in accompanying drawing 3, it comprises super mangneto drive system and by control structure, super mangneto drive system comprises again controller and driver.On this basis, increase by two transducers, be respectively: detect the power output of driver and be converted to power transducing signal and the power transducer of exporting, the displacement that detection is produced under the driving of super mangneto drive system by control structure the displacement transducer that is converted to the output of displacement sensing signal.The displacement sensing signal that the power transducing signal that power transducer is exported and displacement transducer are exported all feeds back to driver, with this, active force that driver is exported is considered by control structure and influencing each other between it, to reach the object that improves control precision.Concrete, the output of power transducer after the gain of the first gain circuitry, be converted into corresponding voltage signal and feedback effect in driver.The output of displacement transducer after the increasing of the second gain circuitry, be converted into corresponding voltage signal and feedback effect in driver.
In accompanying drawing 3, U is the control voltage signal of controller output,
xfor by control structure at active force
feffect under the displacement that produces,
s1 be the first differentiator,
s 2 be the second differentiator,
k 2 be the gain coefficient of the first gain circuitry,
k 1 be the gain coefficient of the second gain circuitry, the gain coefficient of above the first gain circuitry
k 2 , the second gain circuitry gain coefficient
k 1 can obtain according to the corresponding algorithm of required design.
But, when the control signal that controller is exported acts on driver, can produce deviation, and outside interference meeting acts on by control structure by external structure.In order to overcome this deviation, further above-mentioned super mangneto system is made to improvement.Super mangneto system after improvement as shown in Figure 4, it not only comprises the super mangneto drive system that is made up of controller and driver, by control structure, power transducer and displacement transducer, it also comprises the compensator that the deviation of control signal appearance in the time loading that controller is exported compensates, the input of compensator is connected with the output of controller, the output of compensator is connected with driver, and displacement sensing signal feedback is also connected to compensator.Controller sends to be controlled after voltage signal, carrys out Correction and Control voltage signal values in real time by this compensator, to controlling voltage signal because the deviation that is appearance in its loading that the dynamic effect of driver causes compensates.In addition, the output of power transducer transforms circuit feedback through force signal differential and is connected to driver.Force signal differential transforms on loop and is provided with the first differentiator being connected with power transducer, the first gain circuitry being connected with the first differentiator, and the output of the first gain circuitry is connected to driver.Transform in loop at this force signal differential, act on that controlled structural active force is converted into corresponding voltage signal through differential and gain and feedback effect in driver.The output of displacement transducer feeds back to respectively controller and transforms circuit feedback through displacement signal differential and is connected to driver.Displacement signal differential transforms on loop and is provided with the second differentiator being connected with displacement transducer, the second gain circuitry being connected with the second differentiator, and the output of the second gain circuitry is connected to driver.Transform in loop at this displacement signal differential, the displacement of controlled structure generation be converted into corresponding voltage signal through differential and gain and feedback effect in driver.
In accompanying drawing 4,
s1 for force signal differential transforms the first differentiator arranging on loop,
s 2 for displacement signal differential transforms the second differentiator arranging on loop.
Super mangneto system shown in accompanying drawing 4, fed back to the controller of drive system (comprising power transducing signal and displacement sensing signal) by the status signal of control structure, controller calculates control signal according to feedback signal, the control signal after consideration compensator of driver power compensates, export to again the control signal of driver as driver through the control signal of overcompensation, also carried out entirety through transducer Returning driver by the status signal of control structure simultaneously and control.Overall control loop joint has been considered the complex interaction effect between each parts, has realized integrated integration linking, thereby improves the precision of whole super mangneto driving control system.
Above-described embodiment is only explanation technical conceive of the present invention and feature, and its object is to allow person skilled in the art can understand content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences that Spirit Essence is done according to the present invention change or modify, within all should being encompassed in protection scope of the present invention.
Claims (3)
1. the super mangneto system in a Structure Active Control, comprise that super mangneto drive system is connected with described super mangneto drive system and under it drives action by control structure, described drive system comprises to be sent the controller of control signal and under the control of described control signal, drives the described driver being moved by control structure, it is characterized in that: described super mangneto system also comprises the power output that detects described driver the power transducer that is converted to power transducing signal, detect the described displacement being produced by control structure the displacement transducer that is converted to displacement sensing signal under the driving of described super mangneto drive system, the output of described power transducer transforms circuit feedback through force signal differential and is connected to described driver, the output of described displacement transducer feeds back to respectively described controller and transforms circuit feedback through displacement signal differential and is connected to described driver, described super mangneto drive system also comprises the compensator that the deviation of control signal appearance in the time loading that described controller is exported compensates, the input of described compensator is connected with described controller, the output of described compensator is connected with described driver.
2. the super mangneto system in Structure Active Control according to claim 1, is characterized in that: described displacement sensing signal feedback is connected to described compensator.
3. the super mangneto system in Structure Active Control according to claim 1 and 2, it is characterized in that: described force signal differential transform loop comprise the first differentiator of being connected with described power transducer, with the first gain circuitry that the first described differentiator is connected, the output of the first described gain circuitry is connected with described driver; Described displacement signal differential transform loop comprise with described be positioned at the second differentiator that transducer is connected, with the second gain circuitry that the second described differentiator is connected, the output of the second described gain circuitry is connected with described driver.
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| CN201410334679.8A CN104092404B (en) | 2014-07-15 | 2014-07-15 | Super mangneto system in Structure Active Control |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4585978A (en) * | 1984-12-04 | 1986-04-29 | United Technologies Corporation | Magnetostrictive actuator with feedback compensation |
| CN202818151U (en) * | 2012-09-01 | 2013-03-20 | 安徽理工大学 | Giant magnetostrictive converter for automatic thermal compensation servo valve |
| CN103346692A (en) * | 2013-07-02 | 2013-10-09 | 南京航空航天大学 | Frequency domain compensation method for piezoelectric actuator hysteresis nonlinearity in vibration active control |
| CN203984274U (en) * | 2014-07-15 | 2014-12-03 | 郑州航空工业管理学院 | Super mangneto system in Structure Active Control |
-
2014
- 2014-07-15 CN CN201410334679.8A patent/CN104092404B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4585978A (en) * | 1984-12-04 | 1986-04-29 | United Technologies Corporation | Magnetostrictive actuator with feedback compensation |
| CN202818151U (en) * | 2012-09-01 | 2013-03-20 | 安徽理工大学 | Giant magnetostrictive converter for automatic thermal compensation servo valve |
| CN103346692A (en) * | 2013-07-02 | 2013-10-09 | 南京航空航天大学 | Frequency domain compensation method for piezoelectric actuator hysteresis nonlinearity in vibration active control |
| CN203984274U (en) * | 2014-07-15 | 2014-12-03 | 郑州航空工业管理学院 | Super mangneto system in Structure Active Control |
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Inventor after: Liu Jie Inventor after: Liu Hongjun Inventor after: Dong Xiaoma Inventor after: Yan Xiangmei Inventor after: Jia Yan Inventor after: Pan Chunfeng Inventor after: Guo Yankun Inventor after: Yang Liping Inventor before: Liu Jie Inventor before: Liu Hongjun Inventor before: Dong Xiaoma Inventor before: Liu Hongbo Inventor before: Jia Yan Inventor before: Pan Chunfeng |
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Effective date of registration: 20200831 Address after: 450052 No. 2 University Middle Road, Erqi District, Zhengzhou City, Henan Province Co-patentee after: HARBIN INSTITUTE OF TECHNOLOGY, SHENZHEN Patentee after: ZHENGZHOU INSTITUTE OF AERONAUTICAL INDUSTRY MANAGEMENT Address before: 450052 No. 2 middle University Road, Henan, Zhengzhou Co-patentee before: HARBIN INSTITUTE OF TECHNOLOGY, SHENZHEN Patentee before: ZHENGZHOU INSTITUTE OF AERONAUTICAL INDUSTRY MANAGEMENT |