基于多边形膜片弹簧与压电致动器复合的一体化主被动Stewart减振系统研究

doi:10.7527/S1000-6893.2020.24532

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基于多边形膜片弹簧与压电致动器复合的一体化主被动Stewart减振系统研究

王敏¹,吴军卫¹,蒲华燕¹,孙翊¹,彭艳¹,罗均¹,²,谢少荣¹,丁基恒¹

1. 上海大学
2. 重庆大学机械传动国家重点实验室

收稿日期:2020-07-16 修回日期:2020-12-01 出版日期:2020-12-03 发布日期:2020-12-03
通讯作者: 丁基恒
基金资助:
国家自然科学基金;国家自然科学基金;国家自然科学基金;国家自然科学基金;上海扬帆计划

An integrated Active and passive Stewart vibration damping system based on polygonal Diaphragm spring and piezoelectric actuator

Received:2020-07-16 Revised:2020-12-01 Online:2020-12-03 Published:2020-12-03

摘要/Abstract

摘要： 随着遥感卫星光学成像设备等精度的不断提升，其对振动环境的要求也在不断越高，简单的线性被动Stewart平台已经无法满足苛刻使用要求。本文提出了一种新型基于多边形膜片弹簧与压电致动器复合的一体化主被动Stewart减振平台，其单自由度元件主要由多边形膜片弹簧、压电致动器、力传感器以及柔性铰链组成。相较于传统线性隔振器存在的高静刚度和低动刚度之间的固有结构矛盾，本文所提出的多边形膜片弹簧作为隔振器的关键原件，兼具高静-低动（HSLD）特性，能够使隔振系统同时具备较高的静态刚度进行静态承载以及较低的动刚度进行动态减振。为了降低被动隔振系统中存在的共振峰幅值，本文在被动膜片弹簧元件的基础上串联一个压电致动器与力传感器组成的主动控制元件进行主动振动控制。仿真结果表明，采用比例积分力(PIF)反馈控制算法的主动控制系统，在频域上不仅可以通过积分力环节搭建出天棚阻尼的效果来降低共振峰峰值(11.19dB），而且其比例-力环节可等效为增大了质量矩阵项，能够有效降低减振系统的固有频率（20.9Hz），拓宽其减振带宽，并同时能维持高频段的高衰减性，在时域上也能够将系统的加速度振动幅值从±0.6g降低至±0.07g，振动衰减达88%。

关键词: 减振系统, 膜片弹簧, Stewart平台, 比例积分力算法, 反馈控制

Abstract: With the continuous improvement of the accuracy of remote sensing satellite optical imaging equipment, its re-quirements on vibration environment are also getting higher and higher, and the simple linear passive Stewart plat-form can no longer meet the stringent requirements for use. A new integrated active and passive Stewart vibration damping platform based on the composite of polygonal diaphragm spring and piezoelectric actuator is presented. Its vibration isolation leg is mainly composed of polygonal diaphragm spring, piezoelectric actuator, force sensor and flexure hinge. There is an inherent contradiction between the high static stiffness and the low dynamic stiffness in the traditional linear vibration isolator. As the key component of the vibration isolator, the polygonal diaphragm spring proposed in this paper has the characteristics of high-static-low-dynamic (HSLD). It can make the vibration isolation system have high static stiffness for static loading and low dynamic stiffness for dynamic vibration reduc-tion. In order to reduce the amplitude of the resonance peak in the passive vibration isolation system, an active con-trol element consisting of a piezoelectric actuator and a force sensor is connected in series on the basis of the pas-sive diaphragm spring element to control the active vibration. The simulation results show that the active control system using the PIF feedback control algorithm can not only reduce the peak value of resonance (11.9 dB) by building the effect of ceiling damping through the integral force link in frequency domain, but also increase the mass matrix term, effectively reduce the natural frequency (20.9Hz) of the damping system and broaden its damp-ing effect. At the same time, it can maintain the high attenuation of the high frequency band. In the time domain, it can also reduce the acceleration vibration amplitude of the system from ± 0.6g to ± 0.07g, and the vibration attenu-ation reaches 88%.

Key words: Vibration damping system, Diaphragm spring, Stewart platform, Proportional integral force algorithm, Feed-back control

中图分类号:

王敏吴军卫蒲华燕孙翊彭艳罗均谢少荣丁基恒. 基于多边形膜片弹簧与压电致动器复合的一体化主被动Stewart减振系统研究[J]. 航空学报, doi: 10.7527/S1000-6893.2020.24532.

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

基于多边形膜片弹簧与压电致动器复合的一体化主被动Stewart减振系统研究

An integrated Active and passive Stewart vibration damping system based on polygonal Diaphragm spring and piezoelectric actuator

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