CN100388611C - Differential-mode magnetic control shape memory alloy actuator - Google Patents
Differential-mode magnetic control shape memory alloy actuator Download PDFInfo
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- CN100388611C CN100388611C CNB2004100829336A CN200410082933A CN100388611C CN 100388611 C CN100388611 C CN 100388611C CN B2004100829336 A CNB2004100829336 A CN B2004100829336A CN 200410082933 A CN200410082933 A CN 200410082933A CN 100388611 C CN100388611 C CN 100388611C
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Abstract
The present invention relates to a differential magnet-control shape-memory alloy performer which comprises MSMA elements, a permanent magnet, an excitation coil, two iron cores, two magnet baffle plates, one coupler and one excitation current controller, wherein the excitation coil is wound on the iron core which is made of stacked electric steel sheets. The coupler is positioned at the center of a gap reserved between the two iron cores. The MSMA elements, the magnet baffle plates and the permanent magnet are symmetrically and orderly arranged along the gap from the coupler to both sides. The two iron cores are connected in a whole through a pressing plate and screws. Finally, the excitation coil is connected to the excitation current controller. Bias magnetic fields with the equal dimension and the same direction are generated in the two MSMA elements from the permanent magnet. Control magnetic fields with the equal dimension and the counter direction are generated from an excitation coil current. In the two MSMA elements, the stacking result of the two magnetic fields is that one magnetic field is increased, and the other magnetic field is decreased. The coupler shifts to output shift in a certain direction because deformation amounts of the two MSMA elements are different. The shift amount and the direction of the performer can be controlled by changing the quantity and the direction of the current led in the excitation coil.
Description
Technical field
The invention belongs to a kind of magnetic control actuator, particularly a kind of magnetic control shape memory alloy actuator that adopts differential mode to control.
Background technology
The deformation rate of marmem is bigger in the new function material, is suitable for making actuator.Marmem has temperature control type and magnet controlled two kinds, and the former is the distortion that comes control material by variations in temperature, and the latter is the distortion that comes control material with the size that changes magnetic field.Because intensification and cooling all need a process, thereby have limited the dynamic responding speed and the range of application of temperature control type actuator.
Magnetic control shape memory alloy MSMA (Magnetically Controlled Shape Memory Alloy) is just found a kind of novel nickel manganese gallium (NiMnGa) alloy material with shape memory function in 1993, not only deformation rate is big, and being easy to control, deformation rate has the better linearity relation with the magnetic field intensity that is applied; The dynamic responding speed height is 80 times of temperature control type marmem frequency response, can satisfy the requirement of general automatic control system to the actuator dynamic responding speed; Have higher energy conversion efficiency and power density.
Magnetic control shape memory alloy is the non-magnet material that a kind of magnetic permeability is bordering on air, and controlling its distortion needs bigger exciting power; And the magnetic control characteristic of this kind alloy material is relatively more responsive to temperature.
Fig. 1 is the shape contrast of magnetic control shape memory alloy element (I) back (II) before applying controlling magnetic field.As can be seen, the MSMA element obviously extends (L) along the magnetic field vertical direction under the outside magnetic field effect.
Fig. 2 is for producing the magnetic control shape memory alloy actuator basic structure schematic diagram of straight-line displacement.Produce the magnetic field B of control MSMA deformed element with electromagnet.Magnetic field B is removed the back and is utilized the pressure f of recovering spring that the MSMA element is resiled.The shortcoming of this kind structure: the one, it is bigger to produce the needed electromagnet S of the enough large deformation of MSMA exciting power; The 2nd, the precompression that recovers spring is difficult for accurately regulating and having machinery inertial, thereby has influenced the control precision of MSMA actuator and reduced its dynamic responding speed; The 3rd, the magnetic control characteristic of MSMA material is relatively more responsive to temperature, and variation of ambient temperature influences the job stability of actuator.
Summary of the invention
The purpose of this invention is to provide a kind of novel magnetic control shape memory alloy actuator that reduces power controlling and energy compensate for temperature effects.
Fig. 3 is the operation principle schematic diagram of the differential-mode magnetic control shape memory alloy actuator of the present invention's proposition.1 ' with 2 ' be geomery two the MSMA elements identical with the magnetic control characteristic, 3 ' for being used to export the coupling of displacement, 4 ' and 5 ' be the fixing support of MSMA element.When to MSMA element 1 ' apply constant bias field B identical shown in Fig. 3 a with 2 ' respectively
0The time, because the magnetic field size that two elements bore is identical, thereby the distortion that produces is identical, so coupling is positioned at the center and can export displacement.When to MSMA element 1 ' apply and shown in Fig. 3 b, have identical size and the opposite controlling magnetic field B of direction with 2 ' respectively
cThe time, though to element 1 ' different, all perpendicular to the long axis direction of element with the magnetic direction of element 2 ' apply.According to the MSMA properties of materials, as long as magnetic field is perpendicular to the long axis direction of element, no matter be 90 ° or 270 °, if the magnetic field size is identical, then the distortion that element produced is identical, thereby with Fig. 3 a to apply equidirectional bias field situation identical, coupling still is positioned at the center and can export displacement.Fig. 3 c is depicted as two MSMA elements is applied bias field B simultaneously
0With controlling magnetic field B
cThe time situation because controlling magnetic field direction that two elements applied is opposite, after bias field and controlling magnetic field are superimposed, in two elements, produced different resultant magnetic fields, element 1 ' in two magnetic field additions, element 2 ' in then two magnetic fields subtract each other.Because element 1 ' middle magnetic field strengthens and element 2 ' middle field weakening, so producing pressure, element 1 ' elongation makes element 2 ' shortening, shown in Fig. 3 c, this moment, the position of coupling moved down, and exported a downward displacement.If desire to make coupling output displacement upwards, then can realize, shown in Fig. 3 d by the direction that changes controlling magnetic field.
Differential-mode magnetic control shape memory alloy actuator of the present invention comprises two MSMA elements, two permanent magnets, two magnet exciting coils, two iron cores, two magnetic isolation plates and a coupling, a magnetic field exciting current controller.Wherein the shape of two MSMA elements, size and performance are all identical, in order to produce distortion; Two identical permanent magnets of shape, size and material behavior, in order to produce constant bias field, for the magnetic direction that produces in two MSMA elements is identical, the direction of magnetization of two permanent magnets must be identical; Two sizes magnet exciting coil identical with the number of turn is in order to produce controlling magnetic field, two coils can adopt the serial or parallel connection mode of connection, but must produce the magnetic field of equidirectional, the exciting power of two kinds of modes of connection is identical, just series system is compared with parallel way, and exciting voltage increases and is twice and exciting current reduces one times; The iron core of two shape symmetries, the electrical sheet good by magnetic property is overrided to form, the size of each several part unshakable in one's determination is calculated the back through magnetic field analysis and is determined, so that under the acting in conjunction of the controlling magnetic field that bias field that permanent magnet produces and magnet exciting coil electric current produce, the magnetic circuit of each several part unshakable in one's determination can not be saturated; Two magnetic isolation plates of making by non-magnet material, the path of the bias field that produces in order to the restriction permanent magnet makes this magnetic field energy pass the MSMA element uniformly; The displacement that the coupling made from non-magnet material produces in order to output MSMA element; Magnetic field exciting current controller feeds the size and Orientation of two magnet exciting coil electric currents in order to control.
The annexation of differential-mode magnetic control shape memory alloy actuator of the present invention is, difference coiling magnet exciting coil on two iron cores, in the gap of between two iron cores, reserving, coupling is positioned at the center, along the gap by coupling to bilateral symmetry pack into successively MSMA element, magnetic isolation plate, permanent magnet, then two iron cores are integral by pressing plate and screw attachment, at last magnet exciting coil are connected on the exciting current controller.
Advantage of the present invention is:
1. adopt permanent magnet to produce constant bias field and improve the working point, the excitation control of controllable magnetic field only need provide the exciting power that produces differential magnetic field part, available less exciting power obtains bigger MSMA distortion, thereby has reduced the volume of MSMA actuator and improved control efficiency.
2.MSMA element has shape memory function, the method that MSMA is resiled generally is to use along the spring pressure of MSMA element long axis direction placement to realize.Be difficult to adjust and control owing to recover the pressure of spring, thereby influenced the control precision of MSMA actuator.The present invention is without spring but adopt the complementary working methods of two MSMA elements of coaxial placement, another demagnetize field when an element adds magnetic field, and the pressure that the element that adds magnetic field extends generation vertically is used for demagnetize field element and recovers distortion.The distortion of MSMA and recovery pressure can accurately be controlled by the magnetic field size that applies two elements, thereby have improved the control precision of MSMA actuator.
3.MSMA the distortion temperature influence of element is bigger, influence how to eliminate ambient temperature is significant for the control precision of MSMA actuator.The present invention adopted have element function, the Differential Control mode of circuit parameter and magnetic structure symmetry, can eliminate the influence of factors such as ambient temperature and control power-supply fluctuation, improved the stability of MSMA actuator.
Description of drawings
Fig. 1 is that the magnetic control shape memory alloy element is at the shape comparison diagram that applies the controlling magnetic field front and back;
Fig. 2 is for producing the magnetic control shape memory alloy actuator basic structure schematic diagram of straight-line displacement;
Fig. 3 is the operation principle schematic diagram of the differential-mode magnetic control shape memory alloy actuator that the present invention proposes, a) bias field wherein, and b) controllable magnetic field, c) resultant magnetic field produces to bottom offset, and d) resultant magnetic field produces to top offset;
Fig. 4 is differential-mode magnetic control shape memory alloy actuator magnetic structure figure of the present invention;
Fig. 5 is a differential-mode magnetic control shape memory alloy actuator control circuit series system winding diagram.
Embodiment
As Fig. 4, shown in Figure 5, differential-mode magnetic control shape memory alloy actuator of the present invention comprises MSMA element 1 and 2, the permanent magnet 3 and 4 in order to produce bias field, the magnet exciting coil 8 and 9 in order to produce controlling magnetic field, iron core 6 and 7, displacement output coupling 5, magnetic isolation plate 10 and 11, and in order to control the magnetic field exciting current controller 12 of magnet exciting coil electric current.Its annexation is: difference coiling magnet exciting coil 8 and 9 on two iron cores 6 and 7 that electrical sheet is overrided to form, in the gap of between two iron cores, reserving, coupling 5 is positioned at the center, along the gap by coupling 5 to bilateral symmetry pack into successively MSMA element 1 and 2, magnetic isolation plate 10 and 11, permanent magnet 3 and 4, then two iron cores are integral by pressing plate and screw attachment, at last magnet exciting coil 8 and 9 are connected on the exciting current controller 12.
When not feeding electric current in magnet exciting coil 8 and 9, permanent magnet 3 and the 4 constant bias fields that produce are only arranged in the MSMA element 1 and 2.Because the symmetrical structure of permanent magnet and magnetic circuit, the magnetic field size in the MSMA element 1 and 2 is identical so deflection is identical, and coupling is positioned at the center and does not export displacement, shown in Fig. 3 a.When feeding the electric current of a direction in the magnet exciting coil, the magnetic direction of the controlling magnetic field that is produced in MSMA element 1 and 2 is opposite.The bias field that controlling magnetic field and permanent magnet produce is superimposed, a magnetic field strengthens and another field weakening in two MSMA elements, two MSMA elements move the coupling position because of deflection is different, and output displacement downward or upward is respectively shown in Fig. 3 c and Fig. 3 d.By changing direction that feeds magnet exciting coil sense of current may command magnetic field and then the direction of controlling the actuator displacement.The power of the big or small controlling magnetic field by control magnet exciting coil electric current can accurately be controlled the displacement of MSMA actuator.The control of the size and Orientation of magnet exciting coil electric current adopts electric electronic current change technology to realize by exciting current controller 12.
Because magnet exciting coil only needs to provide the exciting power in differential magnetic field on permanent magnet bias field basis, thereby required power controlling is less.Owing to adopt the Differential Control mode, can eliminate the influence of ambient temperature to the MSMA element, improve the stability of actuator.Simultaneously, owing to adopt the complementary working method of two MSMA elements, cancelled being generally used for the spring inertance element that MSMA recovers distortion, thereby improved the dynamic responding speed and the control precision of actuator.
Claims (7)
1. differential-mode magnetic control shape memory alloy actuator, it is characterized in that this actuator is: the two coiling magnet exciting coils respectively of going up unshakable in one's determination, in the gap of between two iron cores, reserving, coupling is positioned at the center, along the gap by coupling to the bilateral symmetry MSMA element of packing into successively, magnetic isolation plate, permanent magnet, then two iron cores are integral by pressing plate and screw attachment, magnet exciting coil is connected on the exciting current controller at last, its working method is: permanent magnet produces the identical bias field of equal and opposite in direction direction in two MSMA elements, the magnet exciting coil electric current produces the controlling magnetic field of opposite sign but equal magnitude in two MSMA elements, two magnetic field superposition results increase magnetic field in the two MSMA elements and another magnetic field reduces, two MSMA elements move the coupling position because of deflection is different, export the displacement of certain direction; Feed the size and Orientation of magnet exciting coil electric current by change, and then control the size and Orientation of actuator displacement.
2. a kind of differential-mode magnetic control shape memory alloy actuator according to claim 1 is characterized in that described two MSMA elements, and its shape, size and performance are all identical, produces distortion under the action of a magnetic field, and has shape memory function.
3. a kind of differential-mode magnetic control shape memory alloy actuator according to claim 1 is characterized in that described two permanent magnets, and its shape, size and material behavior are identical, and the direction of magnetization must be identical.
4. a kind of differential-mode magnetic control shape memory alloy actuator according to claim 1 is characterized in that described two magnet exciting coils, and its size is identical with the number of turn, adopts the serial or parallel connection connected mode, but must produce the magnetic field of equidirectional.
5. a kind of differential-mode magnetic control shape memory alloy actuator according to claim 1 is characterized in that described two iron cores, its shape symmetry, and the electrical sheet good by magnetic property is overrided to form, and the magnetic circuit of each several part unshakable in one's determination is in undersaturated condition.
6. a kind of differential-mode magnetic control shape memory alloy actuator according to claim 1, it is characterized in that described two magnetic isolation plates, made by non-magnet material, the path of the bias field that produces in order to the restriction permanent magnet makes this magnetic field energy pass the MSMA element uniformly.
7. a kind of differential-mode magnetic control shape memory alloy actuator according to claim 1 is characterized in that described coupling, makes with non-magnet material, in order to the displacement of output MSMA element generation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100829336A CN100388611C (en) | 2004-12-13 | 2004-12-13 | Differential-mode magnetic control shape memory alloy actuator |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100829336A CN100388611C (en) | 2004-12-13 | 2004-12-13 | Differential-mode magnetic control shape memory alloy actuator |
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| CN1633021A CN1633021A (en) | 2005-06-29 |
| CN100388611C true CN100388611C (en) | 2008-05-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014019738A1 (en) * | 2012-08-01 | 2014-02-06 | Eto Magnetic Gmbh | Actuator device |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102693879A (en) * | 2011-03-21 | 2012-09-26 | 西门子公司 | Thermal actuator and relay |
| CN102840113B (en) * | 2012-09-25 | 2014-04-02 | 武汉科技大学 | Driving device based on magnetic control shaped memory alloy |
| DE102016107461A1 (en) | 2016-04-22 | 2017-10-26 | Eto Magnetic Gmbh | Actuator device and method for operating an actuator device |
| CN106301064A (en) * | 2016-10-19 | 2017-01-04 | 湖南科技学院 | Differential-mode magnetic control shape memory alloy self-sensing actuator |
| CN113895654B (en) * | 2021-10-27 | 2023-08-04 | 北京航空航天大学宁波创新研究院 | Magnetic suspension inertial actuating mechanism locking device based on magnetostriction shape memory structure |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000052815A1 (en) * | 1999-03-01 | 2000-09-08 | Motorola, Inc. | Motion device using shape memory material and method therefor |
| CN2403175Y (en) * | 1999-12-02 | 2000-10-25 | 江苏法尔胜技术开发中心 | Memory alloy noiseless pulse motor |
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2004
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000052815A1 (en) * | 1999-03-01 | 2000-09-08 | Motorola, Inc. | Motion device using shape memory material and method therefor |
| CN2403175Y (en) * | 1999-12-02 | 2000-10-25 | 江苏法尔胜技术开发中心 | Memory alloy noiseless pulse motor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014019738A1 (en) * | 2012-08-01 | 2014-02-06 | Eto Magnetic Gmbh | Actuator device |
| US9812632B2 (en) | 2012-08-01 | 2017-11-07 | Eto Magnetic Gmbh | Actuator device |
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| CN1633021A (en) | 2005-06-29 |
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