Multi-physics field models of photostrictive unimorphs and heterogeneous bimorphs subjected to light illumination and mechanical loading

This paper presents novel constituent equations for photostrictive unimorphs and heterogeneous bimorphs by considering multi-physics fields. Although the formulation is conducted using the lead lanthanum zirconate titanate ceramics (PLZT) polarized in 0-3 direction subjected to light illumination and mechanical loading, the results may be extended to other photostrictive materials or degenerated to piezoelectric ceramics. In the present formulation, photo-induced electrical, thermal and mechanical fields in PLZT ceramics are studied first, and then one-dimensional opto-thermo-piezoelectric equations for 0-3 polarized PLZT and other photostrictive materials are discussed. On the basis of the photo-induced multi-physics equations, 0-3 polarized PLZT unimorphs and bimorphs are investigated and the associated constituent equations are derived. The numerical results calculated using the present formulations are then compared with those available in the literatures to validate the derived novel constituent equations.     

Exact deflection solutions of beams with shear piezoelectric actuators

Exact deflection models of beams with n actuators of shear piezoelectric are developed analytically. To formulate the models, the first-order and higher-order beam theories are used. The exact solutions are obtained with the aid of the state-space approach and Jordan canonical form. A case study is presented to evaluate the performance of the authors’ previously reported models. Through a demonstrative example, a comparative study of the first-order and higher-order beams with two shear piezoelectric actuators is attained. It is shown that the first-order beam cannot predict the beam behavior when compared with the results of the higher-order beam. Further applications of the solutions are presented by investigating the effects of actuators lengths and locations on the deflected shapes of beams with two piezoelectric actuators. Some interesting deflection curves are presented. For example, the deflection curve of a H–H beam resembles saw teeth that rotate clockwise about the central location with the increase of actuators lengths. The presented exact solutions can be used in the design process to obtain detailed deformation information of beams with various boundary conditions. Moreover, the presented analysis can be readily used to perform precise shape control of beams with n actuators of shear piezoelectric.     

大型索网天线机电耦合动力学建模与主动变形控制

索网天线因其折叠收纳比高、质量轻以及口径大等优点,成为众多空间任务的首选天线形式,但反射面精度较低限制了大型索网天线的在轨性能指标。在索网天线竖向张力索中加入压电陶瓷堆(PZT)作动器,通过主动控制提高反射面的形面精度。首先,将张紧的索网天线分为含有作动器的主动索单元和不含作动器的被动索单元,通过压电本构方程、几何方程和哈密顿原理推导出主动索单元的动力学模型,并与被动索单元一起组装得到索网天线的机电耦合动力学模型。然后,根据天线反射面的初始形面误差和所建立的天线机电耦合动力学模型,基于模型预测控制(MPC)方法计算出各作动器的控制输入电压曲线。最后,以一个10m口径的索网天线为算例,验证本文所建立的模型和控制方法的有效性。     

用两种功能材料综合控制智能梁的振动

给出了用两种材料对梁进行振动控制的综合控制方法。采用多层分布压电层进行精密主动控制时,将压电传感层和压电致动层分割成若干单元来设计压电模态传感器和压电模态致动器,进而实现了梁的模态控制,同时利用形状记忆合金的超弹性特性对梁进行被动控制来抑制梁的大振幅振动,取得了很好的控制效果。     

Thermomechanical behavior of shape memory polymer beams reinforced by corrugated polymeric sections

With the ever-increasing applications of smart actuators, great attention is drawn to the SMP-based composites. In this paper the flexural behavior of corrugated SMP composite beams is studied. Employing a widely-accepted one-dimensional SMP model, based on the assumptions of Euler–Bernoulli beam theory, the governing equations are obtained. Further using a finite difference scheme the equations are solved. In this regard, different types of corrugated sections (rectangular, sinusoidal, …) with equal SMP content are studied and the mechanical properties of interest (load capacity, shape fixity, …) are compared. It is observed that reinforced single-cell patterns have completely different mechanical behaviors. For the sake of generality, the single-cell reinforced composite sections are studied in detail. Numerical results show an increase in load capacity of the structure. However, like any other reinforcing method, an inevitable small decrease in shape fixity is observed. In addition to the properties studied here, other desirable characteristics can be achieved by introducing a reinforcing cover. The results can be utilized in designing SMP-based actuators since the present work proposes a simple and efficient method for enhancing the load capacity of the SMP-based composites.     

智能抛物面天线多目标最优控制

大型天线必须保持非常精确的形状。由于载荷变化及各种随机干扰,为了保持精确的形状,这类结构宜采用主动控制。针对智能抛物面天线结构,建立了对天线反射面的最佳吻合抛物面的RMS精度和作动器能耗为综合目标的多目标优化模型。优化模型以结构强度和作动器性能作为约束条件,模型转化为二次规划问题进行求解,实现智能抛物面天线的准静态最优控制。算例表明,可以用较少的作动器,实现大型天线结构的精密控制。     

Mathematical Modeling and Parameter Identification of a Planar Servo-Pneumatic Test Facility. Part I: Mathematical Modeling and Computer Simulation

High quality multi-axis test facilities used for testing heavy loads and large structures of industrial equipment are usually simulated, designed and controlled based on reduced model equations neglecting the inertia properties of the actuators. The design and control of servo-pneumatic test facilities used for testing small and light structures must take into account extended test facility models including the various inertia properties of the actuators. In this paper (Part I) an extended test facility model is presented including the various inertia properties and joints of the actuators. These extended model equations are represented in a form well suited to be directly implemented in control algorithms based on exact linearization techniques for real time control. This is done by stepwise projecting the inertia properties of the various actuator housings and actuator pistons down to the common mass of the test table and payload. The resulting extended model equations have the same form as the reduced model equations. They only include more complex system matrices and vector functions. These compact model equations turn out to be suitable for an efficient nonlinear controller design of these test facilities. Computer simulations and associated laboratory experiments show the necessity to use extended model equations in case of testing small and light structures. In Part II of this paper [1] the inertia parameters of the planar test facility will be identified in laboratory experiments.     

Static shape control of laminated plate containing piezoelectric patches

By applying the Heaviside function, the equations governing laminated plates possessing spatially distributed piezoelectric patches have been established. Based on these equations, static shape control of laminated plates is discussed. By using a genetic and collocation algorithm, the optimal locations and scales of these piezoelectric patches have been selected. Numerical examples are presented to illustrate the efficiency of the algorithm and the piezoelectric actuators.     

Shape measurement and control of deployable membrane structures

The shape inaccuracies of inflatable antennas and the potential shape control of the surface of those structures are investigated. Surface shape inaccuracies are due to geometric nonlinear deformation. Correcting the shape of these inflatables focused on the integration of piezopolymer actuators on the membranes. The out-of-plane displacements of a membrane structure were assessed with the shadow moiré method. The experimentally measured shape of the structure confirmed the extent of deviation from the ideal optical surface, a paraboloid of revolution. Active control of the shape of the membrane was tested using a piezoelectric material, polyvinylidene fluoride (PVDF). The deformation caused by actuation of the membrane structure was evaluated using electronic speckle pattern interferometry. An analytical solution was developed to verify the extent of shape correction that can be achieved by embedded PVDF actuators. It was confirmed that micron-level shape corrections are possible for future space-based sensors that use inflatable antennae technology.     

LINEAR ACTIVE STRUCTURES AND MODES (Ⅱ)--DISCRETE SYSTEMS AND BEAMS

The basic concepts about the active structures and some attributes of the modes were presented in paper "Liner Active Structures and Modes ( Ⅰ ) ". The characteristics of the active discrete systems and active beams were discussed, especially, the stability of the active structures and the orthogonality of the eigenvectors. The notes about modes were portrayed by a model of a seven-storeyed building with sensors and actuators. The concept of the adjoint active structure was extended from the discrete systems to the beams that were the representations of the continuous structures. Two types of beams with different placements of the measuring and actuating systems were discussed in detail. One is the beam with the discrete sensors and actuators, and the other is the beam with distributed sensor and actuator function. The orthogonality conditions were derived with the modal shapes of the active beam and its adjoint active beam. An example shows that the variation of eigenvalues with feedback amplitude for the homo-configuration and non-homo-configuration active structures.     

Amplitude control on hinged-hinged beam using piezoelectric absorber: Analytical and numerical explanation

This study deals with the problem of reducing the amplitude vibration of flexible structures. Piezoelectric ceramics have been chosen as actuators. After modelling, we derive the corresponding equations governing the dynamic behaviour of structures under control. An analytical approach has been developed to obtain accurate control parameters and tested numerically. A variety of voltage source conditions on control design have been explored. These have been tested numerically.     

面向压电智能结构精确变形的协同优化设计方法

智能结构集智能材料与传统材料于一体,能够实现结构的主动控制,在航空航天等领域具有巨大的应用潜力.由于其系统复杂且具有多场耦合效应,智能结构的整体式优化设计方法成为结构控制技术研究的关键之一.为了提高压电智能结构的整体性能和变形精度,提出了同时考虑压电驱动器布局(分布位置及角度)和基体结构拓扑构型的协同优化设计新方法.采用多点约束方法 (multi-point constraints,MPC)建立压电驱动器和基体结构的连接,定义一种与测量点目标位移相关的权重函数,以实现结构的精确变形控制.通过协同优化设计,压电驱动器可以获得最优的分布位置及角度,同时基体结构获得最优的拓扑构型,从而提升了压电智能结构系统的整体驱动性能和变形精度.通过进一步分析,研究了精确变形、体分比约束与结构优化构型和整体刚度的关系,以及优化结果中可能存在的传力路径畸变现象.数值算例的设计结果表明,采用协同优化设计方法,能够扩大结构的寻优空间,有效减小变形误差,实现压电智能结构的精确变形控制.     

带剪切型压电激励器的板的高阶剪切变形理论

利用压电材料固有的正，逆压电效应可以对结构变形和振动进行控制。与外加电场与极化方向平行于板厚度的压电材料的拉伸作动机制相比，外加电场与极化方向垂直的压电材料的剪切作动机制可以在作动器内产生较小的应力，从而降低作动器边界产生分层破坏的危险。本文对于压电材料的剪切作动机制进行研究，应用三阶剪切变形理论建立带剪切型压电激励器的智能层合板模型。采用哈密顿原理导出带剪切型压电激励器的层合板的控制方程。采用空间法得到了各种边界条件组合条件下板的解析解。数值算例对一三层板采用高阶和一阶剪切变形理论进行计算，结果表明两种理论所得的变形曲线很相似。但对于厚度剪切型激励器而言，由于激励器是引起板的剪切变形，而高阶剪切变形理论比一阶剪切变形理论能更好地反映结构的剪切应变能，因此高阶剪切变形理论可以提供板变形的更为精确的解。因此，对于厚度剪切型激励器，剪切变形理论的选取对于板变形结果的好坏有重要的作用。     

压电曲壳结构形状控制和优化设计

板壳结构作为航空、航天工程以及控制系统中的重要工作元件，在工作状态 中，要承受机械载荷、温度载荷、冲击载荷等各种负面影响， 而航空航天部件对结构形状变化非常敏感，如飞行器机翼、信息接收天线等结构, 微小的结构变形就会引起很大的性能改变，想要在设计初始阶段充分考虑所有不 利因素的影响显然是比较困难的. 利用压电材料控制结构变形往往是现代空间结 构开关控制中一个很好的选择. 基于一般壳体有限单元法, 推导了空间任意曲壳 压电单元, 利用约束方程连接主体壳元和压电壳元, 模型中约束方程的使用大大 减少了结构自由度, 使得计算速度有了明显的提升. 在此基础上, 重点研究了压 电曲壳结构的形状控制方法, 首先利用最小二乘法优化结构的电压分布, 控制结 构形状接近最优工作状态; 其次构建了以压电壳元厚度和电压联合作为设计变量 的优化控制模型, 采用非线性优化求解方法, 取得了更好的控制效果. 数值算例 表明了该文计算模型、 优化设计和控制方法的有效性.     

Theoretical analysis of the deformation of SMP sandwich beam in flexure

Shape memory polymers (SMPs) can have a large frozen strain but with a very small recovery stiffness in comparison with shape memory metals or ceramics. To provide more deployable stresses for the application of actuators, sandwich beams consisting of a SMP core and two thin metallic skins were considered. The packaging behaviors of two types of SMP sandwich beams, aluminum/SMP/aluminum and steel/SMP/steel, were discussed. Due to the high compliance of SMP core on packaging condition that the testing temperature is above the activation temperature of the material, buckling and post-buckling are the essential deformation mechanisms of SMP sandwich beams under bending. Theoretical solutions were derived in studying such non-linear behaviors, including the initiation of critical buckling, post-buckling response, and final failure modes. Systematic parameter’s analyses, e.g., buckling half-wavelength, amplitude, location of the neutral-strain surface in different packaging curvatures, were also presented.     

LINEAR ACTIVE STRUCTURES AND MODES （ Ⅱ ） — DISCRETE SYSTEMS AND BEAMS

The basic concepts about the active structures and some attributes of the modes were presented in paper “Liner Active Structures and Modes ( Ⅰ ) “. The characteristics of the active discrete systems and active beams were discussed, especially, the stability of the active structures and the orthogonality of the eigenvectors. The notes about modes were portrayed by a model of a seven-storeyed building with sensors and actuators. The concept of the adjoint active structure was extended from the discrete systems to the beams that were the representations of the continuous structures. Two types of beams with different placements of the measuring and actuating systems were discussed in detail. One is the beam with the discrete sensors and actuators, and the other is the beam with distributed sensor and actuator function. The orthogonality conditions were derived with the modal shapes of the active beam and its adjoint active beam. An example shows that the variation of eigenvalues with feedback amplitude for the homo-configuration and non-homo-configuration active structures.     

Vibration analysis and active control of nearly periodic two-span beams with piezoelectric actuator/sensor pairs

The piezoelectric materials are used to investigate the active vibration control of ordered/disordered periodic two-span beams. The equation of motion of each sub-beam with piezoelectric patches is established based on Hamilton's principle with an assumed mode method. The velocity feedback control algorithm is used to design the controller. The free and forced vibration behaviors of the two-span beams with the piezoelectric actuators and sensors are analyzed. The vibration properties of the disordered two-span beams caused by misplacing the middle support are also researched. In addition, the effects of the length disorder degree on the vibration performances of the disordered beams are investigated. From the numerical results, it can be concluded that the disorder in the length of the periodic two-span beams will cause vibration localizations of the free and forced vibrations of the structure, and the vibration localization phenomenon will be more and more obvious when the length difference between the two sub-beams increases. Moreover, when the velocity feedback control is used, both the forced and the free vibrations will be suppressed. Meanwhile, the vibration behaviors of the two-span beam are tuned.     

采用分布式压电驱动器升力面的颤振主动抑制

对采用分布式压电驱动器升力面的颤振主动抑制进行了理论与试验研究.应用 LQG最优控制法设计了主动控制律,在控制律降阶时提出了平衡实现与LK法结合使用的新途径,在对不定常气动力进行有理函数拟合时对LS法进行了改进.试验中利用激光测速仪非接触测量模型的速度响应并在地面共振试验中用压电驱动器激振模型.颤振风洞试验结果表明,理论计算合理并与试验结果吻合良好.     

Vibration analysis of piezoelectric laminated slightly curved beams using distributed transfer function method

Piezoelectric laminated slightly curved beams (PLSCB) is currently one of the most popular actuators used in smart structure applications due to the fact that these actuators are small, lightweight, quick response and relatively high force output. This paper presents an analytical model of PLSCB, which includes the computation of natural frequencies, mode shapes and transfer function formulation using the distributed transfer function method (DTFM). By setting the radius of curvature of the proposed model to infinity, a piezoelectric laminated straight beams (PLSB) model can be obtained. The DTFM is applied and extended to carry out the transfer function formulation of the PLSCB and PLSB models. This method will be used to solve for the natural frequencies, mode shapes and transfer functions of the PLSCB and PLSB models in exact and closed form solution without using truncated series of particular comparison or admissible functions. The natural frequencies of the cantilevered PLSCB and PLSB are calculated by the DTFM and the Rayleigh–Ritz method. The analysis indicates that the stretching–bending coupling due to curvature has a considerable effect on the frequency parameters. Increasing the radius of curvature of the PLSCB has its largest effect on the natural frequencies. But the inhomogeneity of the boundary conditions does not have any effects on the natural frequencies or system spectrum due to the both receptance and boundary transfer functions have the same characteristic equations. The method can also be generalized to the vibration analysis of non-piezoelectric composite beams with arbitrary boundary conditions.     

A review of development and implementation of an active nonlinear vibration absorber

Summary We present an account of an implementation of an active nonlinear vibration absorber that we have developed. The control technique exploits the saturation phenomenon that is known to occur in quadratically-coupled multi-degree-of-freedom systems subjected to primary excitation and possessing a two-to-one internal resonance. The technique is based on introducing an absorber and coupling it with the structure through a sensor and an actuator, where the feedback and control signals are quadratic. First, we consider the case of controlling the vibrations of a single-degree-of-freedom system. We develop the equations governing the response of the closed-loop system and use the method of multiple scales to obtain an approximate solution. We investigate the performance of the control strategy by studying its steady-state and transient characteristics. Additionally, we compare the performance of the quadratic absorber with that of a linear absorber. Then, we present theoretical and experimental results that demonstrate the versatility of the technique. We design an electronic circuit to emulate the absorber and use a variety of sensors and actuators to implement the active control strategy. First, we use a motor and a potentiometer to control the vibration of a rigid beam. We develop a plant model that includes Coulomb friction and demonstrate that the closed-loop system exhibits the saturation phenomenon. Second, we extend the strategy to multi-degree-of-freedom systems. We use PZT ceramics and strain gages to suppress vibrations of flexible steel beams when subjected to single- and simultaneous two-mode excitations. Third, we employ Terfenol-D, a nonlinear actuator, and accelerometers to control the vibrations of flexible beams. In all instances, the technique is successful in reducing the response amplitude of the structures. Received 3 May 1999; accepted for publication 3 June 1999