基于LQG最优控制法的压电智能结构独立模态空间控制

采用压电材料作为传感器和驱动器对智能结构振动主动控制进行研究,基于机电耦合的压电智能结构传感和驱动方程,将振动控制动力学方程变换到模态空间对方程进行解耦。通过计算结构最大应变,确定压电元件的最佳粘贴位置。考虑到系统过程噪声和量测噪声的影响,设计Kalman滤波器,采用基于线性二次型高斯(LQG)最优控制的独立模态空间控制方法对压电智能结构的振动进行控制。最后以压电智能悬臂梁为例进行控制仿真,验证了此方法的有效性。     

Nonlinear vibration analysis of piezoelectric bending actuators: Theoretical and experimental studies

Piezoelectric bimorph actuators are used in a variety of applications, including micro positioning, vibration control, and micro robotics. The nature of the aforementioned applications calls for the dynamic characteristics identification of actuator at the embodiment design stage. For decades, many linear models have been presented to describe the dynamic behavior of this type of actuators; however, in many situations, such as resonant actuation, the piezoelectric actuators exhibit a softening nonlinear behavior; hence, an accurate dynamic model is demanded to properly predict the nonlinearity. In this study, first, the nonlinear stress–strain relationship of a piezoelectric material at high frequencies is modified. Then, based on the obtained constitutive equations and Euler–Bernoulli beam theory, a continuous nonlinear dynamic model for a piezoelectric bending actuator is presented. Next, the method of multiple scales is used to solve the discretized nonlinear differential equations. Finally, the results are compared with the ones obtained experimentally and nonlinear parameters are identified considering frequency response and phase response simultaneously. Also, in order to evaluate the accuracy of the proposed model, it is tested out of the identification range as well.     

运七飞机座舱的压电主动振动控制实验研究

由于实验规模与复杂性的限制 ,将压电材料用于实际飞机振动主动控制的实验研究极少 ,因而缺少对其实用潜力的探讨。为评估压电陶瓷在实际飞机结构上用于减振的可行性和效果 ,以运七飞机座舱壁板为试件 ,实地进行了基于准独立模态控制策略的主动振动控制实验 ,取得理想的控制效果 ;表明了建模和控制方法的正确性与有效性 ,同时反映出压电结构的应用潜力和前途是十分广阔的     

A wavelet approach for active-passive vibration control of laminated plates

As an extension of the wavelet approach to vibration control of piezoelectric beam-type plates developed earlier by the authors,this paper proposes a hybrid activepassive control strategy for suppressing vibrations of laminated rectangular plates bonded with distributed piezoelectric sensors and actuators via thin viscoelastic bonding layers.Owing to the low-pass filtering property of scaling function transform in orthogonal wavelet theory,this waveletbased control method has the ability to automatically filter out noise-like signal in the feedback control loop,hence reducing the risk of residual coupling effects which are usually the source of spillover instability.Moreover,the existence of thin viscoelastic bonding layers can further improve robustness and reliability of the system through dissipating the energy of any other possible noise induced partially by numerical errors during the control process.A simulation procedure based on an advanced wavelet-Galerkin technique is suggested to realize the hybrid active-passive control process.Numerical results demonstrate the efficiency of the proposed approach.     

压电智能环形板的主动控制

对在不同位置粘有任意多组压电传感器和压电执行器的轴对称弹性环形薄板的振动控制进行了研究．根据压电执行元件的等效作用量得到了压电智能环板的振动控制方程和传感方程,再利用分离变量法以及由传感器测得的电量和作用在执行器上电压之间的控制模式得到振动方程的全解．实行了对整体结构的主动控制．对不同的压电片布置进行了数值计算．结果表明：当离散分布压电元件布置越密,振动衰减的效果越佳     

Dynamic modelling and active vibration control of a submerged rectangular plate equipped with piezoelectric sensors and actuators

The active vibration control of a rectangular plate either partially or fully submerged in a fluid was investigated. Piezoelectric sensors and actuators were bonded to the plate, and the assumed mode method was used to derive a dynamic model for the submerged plate. The properties of the piezoelectric actuators and sensors, as well as their coupling to the structure, were used to derive the corresponding equations of their behaviour. The fluid effect was modelled according to the added virtual mass obtained by solving the Laplace equation. The natural vibration characteristics of the plate both in air and in water were obtained theoretically and were found to be consistent with the experimental results, and the changes in the natural frequencies resulting from submersion in fluid can be accurately predicted. A multi-input, multi-output positive position feedback controller was designed by taking the natural vibration characteristics into account and was then implemented by using a digital controller. The experimental results show that piezoelectric sensors and actuators along with the control algorithm can effectively suppress the vibration of a rectangular plate both in air and submerged in a fluid.     

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。     

有限长压电层合简支板自由振动的三维精确解

基于三维弹性理论和压电理论，导出了有限长矩形压电层合简支板的动力学方程及相应的边界条件，给出了一种求解压电层合板自由振动三维精确解的方法；分析了正、逆向压电效应对层合板振动频率的影响．本文所述的方法和结果对于求解其他三维动态问题，验证、比较其他简化模型、有限元计算结果以及工程应用都有指导意义．     

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.     

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。     

考虑挠曲电效应的压电纳米薄板力-电-热耦合特性研究

摘要：挠曲电效应是由应变梯度引起的,与尺度相关的力电耦合效应。基于Kirchhoff板假设和挠曲电理论,本文推导了温度和电压作用下的压电薄板力-电-热耦合微分控制方程,定量分析了微分控制方程中非线性项的影响,并针对四周固支压电薄板采用Ritz法求解,数值计算了压电薄板的弯曲和振动行为。在研究温度和挠曲电效应对薄板耦合特性和力学行为的影响时,本文分别考虑了材料系数不随温度变化和随温度线性变化两种情况。以PZT-5H为例,我们讨论了挠曲电和温度对压电薄板的横向位移和固有频率的影响。研究结果表明挠曲电效应对压电纳米薄板的力学行为影响很大,且具有明显的尺寸效应。此外,薄板对温度变化非常敏感。因此,可通过挠曲电效应和温度来调控压电纳米薄板的多场耦合特性和力学行为,进而优化基于压电薄板的NEMS/MEMS中传感器、作动器等电子器件的性能。     

The three-hinged arch as an example of piezomechanic passive controlled structure

Although piezoelectric transducers are employed in a variety of fields, their application for vibration control of civil or industrial structures has not yet been fully developed, at the best of authors’ knowledge. Thanks to a new generation of ever more performing piezoceramic materials and to the recent development of scientific proposals based on a very simple technology, this paper presents a step forward to engineering applications for the control of structural systems. A three-hinged arch controlled by piezoelectric stack actuators and passive RL electrical circuits is chosen as a simple structural model that may represent the starting point for a generalization to the most common typologies of civil and industrial engineering structures. Based on the concept of electromechanical analogy, the evolution equations are obtained through a consistent Lagrangian approach. A multimodal vibration suppression is guaranteed by the spectral analogy between the mechanical and electrical components. Preliminary applications related to free oscillations, with one or more actuators on each member, seem to lead to excellent performance in terms of multimodal damping and dissipated energy.     

考虑挠曲电效应的压电纳米薄板力-电-热耦合特性研究

摘要：挠曲电效应是由应变梯度引起的，与尺度相关的力电耦合效应。基于Kirchhoff板假设和挠曲电理论，本文推导了温度和电压作用下的压电薄板力-电-热耦合微分控制方程，定量分析了微分控制方程中非线性项的影响，并针对四周固支压电薄板采用Ritz法求解，数值计算了压电薄板的弯曲和振动行为。在研究温度和挠曲电效应对薄板耦合特性和力学行为的影响时，本文分别考虑了材料系数不随温度变化和随温度线性变化两种情况。以PZT-5H为例，我们讨论了挠曲电和温度对压电薄板的横向位移和固有频率的影响。研究结果表明挠曲电效应对压电纳米薄板的力学行为影响很大，且具有明显的尺寸效应。此外，薄板对温度变化非常敏感。因此，可通过挠曲电效应和温度来调控压电纳米薄板的多场耦合特性和力学行为，进而优化基于压电薄板的NEMS/MEMS中传感器、作动器等电子器件的性能。     

智能梁振动主动控制的广义位置函数法

研究了具有离散分布式压电传感器、执行器的智能梁,在外加电场作用下振动模态与外加电场之间的耦合关系,提出了智能梁主动控制的一种新的计算方法-广义位置函数法,并引入执行器位置函数的级数展开式,简化了计算,结果表明,智能梁振动控制效果与压电执行器长度、数目以及位置有密切的关系。     

Basic equations of the theory of thermoviscoelastic plates with distributed sensors and actuators

The basic equations of the theory of thermoviscoelastic thin-walled plates with piezoelectric sensors and actuators under monoharmonic mechanical and electric loading are derived using the Kirchhoff–Love hypotheses. The thermomechanical behavior of passive and piezoactive materials is described using the concept of complex characteristics. Methods of solving nonlinear problems of active damping of thermomechanical vibrations of plates with sensors and actuators are considered. The effect of dissipative heating on the damping of axisymmetric vibrations of a thermoviscoelastic solid circular plate is analyzed as an example     

A theoretical analysis of piezoelectric/composite anisotropic laminate with larger-amplitude deflection effect,Part I: Fundamental equations

Considering the effects of both the different material properties of composite layers and the poling directions of piezoelectric layers, we utilized the assumption of the simple-higher-order shear deformation theory to model and analyze the laminated composite plate integrated with the random poled piezoelectric layers. Further, the generalized Hamilton’s variation principle for electro-elasticity was employed to deduce the fundamental equations of piezoelectric/composite anisotropic laminate, i.e. the governing equations and boundary conditions. For the special requirement of the larger-amplitude deflection of smart structures, the Von Karman strains were used to account for the geometric nonlinear effect of the practical larger-amplitude deflection on the electro-elastic behavior of smart composite structures. Moreover, the sensor equations were also carried out with considering the large-amplitude deflection effect of smart composite structures.     

基于压电曲壳单元的结构振动最优控制

曲壳结构已广泛应用于航空航天、航海等领域,结构微小的振动会极大地影响部件性能,抑制曲壳结构的振动就很必要。提出了压电曲壳结构的振动最优控制模型,利用空间曲壳单元理论及多点约束方程实现曲壳基结构壳元和压电壳元的耦合,推导了压电曲壳结构动力学有限元方程,并结合线性二次型最优控制理论,实现了压电作动器对曲壳结构的振动最优控制。数值算例表明,对曲壳结构进行动力分析和振动控制时,在达到同样精度及控制效果的情况下,与平壳相比,曲壳单元及作动器所需数目要少得多。     

压电层合圆板传感器的非线性静力耦合分析

本文基于von Karman薄板非线性理论，压电基本方程和经典层合板理论，对上，下表面粘有压电传感膜层的圆薄板压力传感器的力-电耦合特性进行了定理分析。首先，针对压电层合圆板传感器件建立了考虑几何非线性变形的力-意耦合模型。给出了压电薄膜层感应电量的计算公式；然后，采用级数解法进行了求解，得到了非线性静力耦合问题的幂级数精确解，给出了传感器静态测量过程中所关心的压力-电量特征曲线和中心挠度，电量特征曲线；同时，定量讨论了压电二次效应对感应电量和层合结构中心挠度的影响。通过所得结果，在压电式压力传感器设计中，为采用电信号直接输出有关结构的变形和外界载荷等待测参量提供了依据。     

Basic Equations for Viscoelastic Laminated Shells with Distributed Piezoelectric Inclusions Intended to Control Nonstationary Vibrations

The basic equations for viscoelastic laminated shells with distributed piezoelectric sensors and actuators are presented. Physical and geometrical nonlinearities are taken into account. It is shown that the asymptotic methods of nonlinear mechanics can be used in combination with the Bubnov–Galerkin method to solve nonlinear boundary value problems.     

Approximation d'un contrôle optimal distribué par un circuit électronique réparti: application au contrôle de vibrations

This paper focuses on the design of distributed control related to distributed mechanical systems. Sensors and actuators are assumed to be numerous and periodically distributed. The problem adressed in this paper is: “Can we find a way to approximate an optimal control law with a distributed electronic circuit?” A solution to this problem is proposed in the framework of vibration control of a thin plate using piezoelectric actuators and sensors.