CN101097165A - Time division multiplexing decoupling method for realizing self perception executor and control system - Google Patents
Time division multiplexing decoupling method for realizing self perception executor and control system Download PDFInfo
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- CN101097165A CN101097165A CNA2007100104104A CN200710010410A CN101097165A CN 101097165 A CN101097165 A CN 101097165A CN A2007100104104 A CNA2007100104104 A CN A2007100104104A CN 200710010410 A CN200710010410 A CN 200710010410A CN 101097165 A CN101097165 A CN 101097165A
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Abstract
The invention belongs to measuring and controlling technique filed of electromechanic system, relates to realizing method and control system based on self-apperceive performer of double-direction electromechanic transducing material. Time division multiplexing decoupling and control system of self-apperceive performer adopts double-direction transducing element, using switching sequence control circuit to control double-direction transducing element as sensor or performer, when the double-direction transducing element is as the sensor, it used sensing switch, when the double-direction transducing element is as the performer, it used executing switch, it uses discharging switch to discharge the double-direction transducing element, the three switches are conducted or closed under control of switch sequence control circuit. The invention decreases volume and weight of electromechanic system, and makes structure controlled integrated and micromated, decreases difficulty of craftwork and installation; it is controlled in parity, increases stability of control. It fits for structure libration initiative control, system identification and health diagnosis, especially fits for flexible structure whose volume and weight are limited.
Description
Technical field
The invention belongs to the observation and control technology field of Mechatronic Systems, relate to based on the integrated implementation method of the sensor and actuator function of two-way electromechanical transducing material, the i.e. implementation method of self perception executor and control system.
Background technology
No matter be to traditional Mechatronic Systems or in recent years MEMS (micro electro mechanical system), implementing to measure with control needs actuator and sensor usually simultaneously.Actuator produces displacement or power, finishes the control action of expectation; Physical quantitys such as sensor measurement displacement or power all be unable to do without sensor in open loop monitoring and the closed-loop control.In general, the technology path of setting up a control system is to adopt independently sensor and independently actuator, and the shortcoming of this method is to be unfavorable for that coordination controls, is not easy to system integration and microminiaturization.
Two-way electromechanical transducing material mainly comprises piezoelectric and magnetostriction materials.Piezoelectric produces electric charge under stress or effects of strain, convert mechanical energy to electric energy, is called direct piezo electric effect, utilizes this effect to can be made into sensor; Deformation takes place or produces driving force in piezoelectric under electric field action, convert electric energy to mechanical energy, is called inverse piezoelectric effect, utilizes this effect to can be made into actuator.Magnetostriction materials produce induced voltage under stress or effects of strain, convert mechanical energy to electric energy; Deformation promptly under the action of a magnetic field, takes place or produces driving force behind galvanization in magnetostriction materials, converts electric energy to mechanical energy.The sensor technology of two kinds of materials and actuation technologies be comparative maturity all.In fact, at two-way electromechanical transducing material internal, the energy conversion of machine → electricity, electricity → machine both direction is simultaneous, and just the responsive electric signal of sensor and the driving electric signal of actuator mix.If responsive electric signal and driving electric signal are separated by suitable decoupling method, a two-way electromechanical transducing device just can have sensor and two kinds of functions of actuator concurrently, this device is called as self perception executor (Self-Sensing Actuator), also has from translation forms such as responsive actuator, Self-sensing Actuator.
Up to now, realize that Piezoelectric Self-Sensing Actuator mainly adopts the bridge diagram decoupling method.U.S. Pat 5,347,870 disclose the Piezoelectric Self-Sensing Actuator implementation method first, based on the electric bridge decoupling method a slice piezoelectric transducer are had simultaneously and excite and perception displacement, speed or two kinds of effects of acceleration; US5,656,779 and US5,913,955 disclose and electric bridge decoupling method Piezoelectric Self-Sensing Actuator is used for structural vibration measures method with control; US6,600,619 disclose and utilize the electric bridge decoupling method to make the piezoelectric micromotor actuator from the perception mechanical strain and be applied to the method for vibration control in the magnetic disc head Precision Positioning.The difficult problem of electric bridge decoupling method is that bridge diagram is not easy balance, and reason is that the electric capacity as the piezoelectric element of one of bridge diagram brachium pontis changes with the border condition.US5,578,761 disclose and adopt analog-and digital-mixed self-adapting Technical Follow-Up piezoelectric capacitance to change so that transfer the method for bridge balance in real time.The magnetostriction materials self perception executor also adopts the electric bridge decoupling method in the paper of publishing.The applicant discloses the space division multiplexing decoupling method of realizing Piezoelectric Self-Sensing Actuator in CN ZL200410020496.5, piezoelectric ceramics/crystal has two electrode surfaces, an electrode surface is done public ground electrode, another electrode surface is divided into two groups, do sensing electrode respectively and carry out electrode, by these two groups of electrodes that spatially separate, drive voltage signal and sense voltage signal natural separation.Sensing electrode and execution electrode can be made three-back-shaped or interdigitated or annular, spatially fully intersect close.Therefore, a slice piezoelectric ceramics/crystal is not only done actuator but also make sensor, has promptly realized Piezoelectric Self-Sensing Actuator; And sensor and actuator are the coordination configurations.Having increased the dividing electrodes operation in the space division multiplexing decoupling method, is not very convenient for cylindricality or tubular or multi-layer piezoelectric inverting element; The most clavate of magnetostriction element is so two-way transductive material and shape that the space division multiplexing decoupling method is suitable for have certain limitation.All there is time-division multiplex technology in fields such as communication and computer technology, for example channel time-division multiplex technology, data address time-division multiplex technology etc., inspired by this, after bridge diagram decoupling method, space division multiplexing decoupling method, propose a kind of new time division multiplexing decoupling method, realize self perception executor based on the two-way transductive material of general electromechanics.
Summary of the invention
The objective of the invention is to adopt time division multiplexing decoupling method to make a two-way inverting element, adopt the quick switching of sequential circuit control sensor and actuator, realize self perception executor as self perception executor.This method does not exist electric bridge in the electric bridge decoupling method to be difficult for the problem of balance; Needn't do any dividing electrodes, keep two-way inverting element former state, easy to be general; Reduced the design difficulty of self perception executor.Reduced structure volume and weight, promote the integrated and microminiaturized of structure; Embodied the integrated of energy stream, streams and information flow, the present invention makes based on two-way transductive material and realizes that the method for self perception executor has formed a relatively rounded system.
The technical solution used in the present invention is a kind of time division multiplexing decoupling method of realizing self perception executor, adopt two-way inverting element, it is characterized in that: adopt the two-way inverting element 1 of switching sequence control circuit 5 controls as sensor or actuator, when two-way inverting element 1 uses as sensor, adopt sensitive switch K
1Switch, when two-way inverting element 1 uses as actuator, adopt and carry out K switch
2Switch, adopt discharge switch K
3Give two-way inverting element 1 discharge, these three switches alternate conduction and ending under the control of switching sequence control circuit 5; Two-way inverting element 1 produces control displacement or power as actuator then earlier as sensor speed or force signal, and last two-way inverting element discharge is finished a sensing and carried out function; The concrete steps of sensing and execution are: at first closed K
1, disconnect K
2And K
3, the sensitive information on the two-way inverting element 1 is through K
1Enter sensor signal amplifying circuit 7, this moment, two-way inverting element 1 used as sensor, information such as the speed of detection architecture or power; The closed then K switch of carrying out
2, disconnect sensitive switch K
1With discharge switch K
3, the controlled quentity controlled variable of controller 6 outputs is through the two-way inverting element 1 of actuator driven circuit 9 rear drives, and this moment, two-way inverting element 1 used as actuator, and actuator produces displacement or power; Last closed K
3, disconnect K
1And K
2, the electric energy of accumulation is discharged by discharge channel 4 on the two-way inverting element 1; The switch speed height of sensor and actuator, switch speed equals the signal sampling frequency, and the switch speed of sensor and actuator should be greater than structure 2 times of the highest controlled model frequency; A sensing performance period, T equaled sensing time slot τ
1, carry out time slot τ
2, discharge time slot τ
3Summation, in a sensing performance period T, carry out time slot τ
2Greater than sensing time slot τ
1, guaranteeing to increase execution time slot τ under the correct prerequisite of transducing signal sampling
2, shorten sensing time slot τ
1, shorten discharge time slot τ
3
Realize the time division multiplexing decoupling method of self perception executor, the feature of its control system is: comprise two-way inverting element 1, sensing passage 2, carry out passage 3, discharge channel 4, switching sequence control circuit 5 and controller 6; The electrode surface B ground connection of two-way inverting element 1; The electrode surface A of two-way inverting element 1 connects K switch
1, K
2And K
3Left end; Sensing passage 2 is by sensitive switch K
1, sensor signal amplifying circuit 7 and low-pass filter 8 form sensitive switch K
1Right-hand member connect sensor signal amplifying circuit 7, the output of sensor signal amplifying circuit 7 connects low-pass filter 8, the output of low-pass filter 8 connects controller 6; Carry out passage 3 by carrying out K switch
2Form with actuator driven circuit 9, the output of controller 6 connects actuator driven circuit 9, and the output of actuator driven circuit 9 connects the execution K switch
2Right-hand member; Discharge channel 4 is by discharge switch K
3With discharge resistance R
1Form discharge switch K
3Right-hand member meet discharge resistance R
1, discharge resistance R
1Ground connection.
Realize the time division multiplexing decoupling method and the control system of self perception executor, it is characterized in that two-way inverting element 1 is piezoelectric element or magnetostriction element; Switching sequence control circuit 5 is DLC (digital logic circuit) or pulse signal generator; Controller 6 is digital signal processor DSP or microcomputer or Single Chip Microcomputer (SCM) system.
Effect of the present invention and benefit are to adopt time division multiplexing decoupling method to make a two-way inverting element as self perception executor, adopt the quick switching of sequential circuit control sensor and actuator, do not relate to the problem of adjusting bridge balance, the operation that does not have the dividing electrodes in the space division multiplexing decoupling method reduces technology and installation difficulty.Be applicable to the two-way inverting element of Any shape, size, the check point of sensor and the reference mark of actuator are points, have accomplished coordination control, improve control stiffness; Be applicable to active control in structural vibration, System Discrimination and Gernral Check-up etc., be particularly useful for the flexible structure that volume and weight is restricted.
Description of drawings
Fig. 1 is the dynamo-electric two-way transducing synoptic diagram of piezoelectric, wherein U-voltage; The I-electric current; F-power v-speed; The two-way inverting element of 1-.
Fig. 2 is the time division multiplexing decoupling method synoptic diagram, wherein the two-way inverting element of 1-; 2-transducing signal passage; 3-carries out signalling channel; The 4-discharge channel; 5-switching sequence control circuit; The 6-controller; 7-sensor signal amplifying circuit; The 8-low-pass filter; 9-actuator driven circuit; The A-electrode surface; The B-electrode surface; K
1-sensitive switch; K
2-execution switch; K
3-discharge switch; V
K1-K switch
1Control voltage; V
K2-K switch
2Control voltage; V
K3-K switch
3Control voltage; R
1-discharge resistance.
Fig. 3 is switching sequence pulse waveform, wherein τ
1-sensing time slot; τ
2-execution time slot; τ
3-discharge time slot; The T-sensing performance period, V
K1-K switch
1Control voltage; V
K2-K switch
2Control voltage; V
K3-K switch
3Control voltage.
Fig. 4 is the semi-girder vibration active control system that adopts Piezoelectric Self-Sensing Actuator, wherein, and the two-way inverting element of 1-; The 6-controller; 7-sensor signal amplifying circuit; The 8-low-pass filter; 9-actuator driven circuit; The 10-semi-girder; The A-electrode surface; The B-electrode surface; R
1-discharge resistance; R
2-sensitive switch K
1Biasing resistor; R
3-execution K switch
2Biasing resistor; R
4-discharge switch K
3Biasing resistor; IC
1, IC
2-Photo MOS relay integrated circuit (IC) chip AQW214EH; P
1～P
8-IC
1, IC
2Pin; DI/DO-digital quantity input/output module; A/D-analog/digital signal conversion device; D/A-digital/analog signal converter, V
K1-K switch
1Control voltage; V
K2-K switch
2Control voltage; V
K3-K switch
3Control voltage ,+5V-supply voltage.
Fig. 5 is the vibrational waveform of the control front and back current vortex displacement instrumentation amount of oscillograph recording, wherein: t
1-control the initial moment; 0.42V-the peak value at vibration signal peak before the control; 0.31V-the peak value of control after vibration signal peak.
Embodiment
Below in conjunction with technical scheme and accompanying drawing, describe the specific embodiment of the present invention and embodiment in detail.
Physical basis of the present invention is the dynamo-electric two-way transducing theory of functional material, as shown in Figure 1.When two-way inverting element 1 is made sensor, voltage U or electric current I that the power F or the speed v of mechanical port is transformed into electrode port; When two-way inverting element 1 is done actuator, power F or speed v that the voltage U or the electric current I of electrode port is transformed into mechanical port.Usually only utilize the transducing of a direction, device was made sensor separately or was done actuator separately this moment.The present invention allows two-way inverting element 1 not only do actuator simultaneously but also make sensor, and the problem that solve is how the responsive electric signal of the sensor driving electric signal with actuator to be separated.
In accompanying drawing 2, adopt switching sequence control circuit 5 control sensitive switch K
1, carry out K switch
2With discharge switch K
3Conducting with end, two-way inverting element 1 is used as sensor or actuator.According to the logical relation of selected switching device and three switching sequence gating pulse, switching sequence control circuit 5 is that DLC (digital logic circuit) or pulse signal generator or DLC (digital logic circuit) are in conjunction with software programming; Controller 6 is digital signal processor DSP or microcomputer or Single Chip Microcomputer (SCM) system, and the peripheral circuit of controller 6 will comprise A/D and D/A module.The performing step of time division multiplexing decoupling method is: the first step, and as closed sensitive switch K
1, disconnect to carry out K switch
2With discharge switch K
3The time, sensing passage 2 works independently, and information such as the speed of detection architecture or power after 7 amplifications of sensor signal amplifying circuit, low-pass filter 8 filtering high frequency interference, enter controller 6; Controller 6 is finished data necessary processing and operation control algolithm, according to the state feedback information that obtains in the sensing time slot, generates the controlled quentity controlled variable to actuator.Second step is when closure is carried out K switch
2, disconnect sensitive switch K
1The time, carry out passage 3 and work independently, enter the execution time slot, the controlled quentity controlled variable of controller 6 outputs is through actuator driven circuit 9 after-applied electrode surface A to two-way inverting element 1, and actuate actuators produces the displacement and the power of expectation.The 3rd step, next time slot should be that two-way inverting element 1 is made sensor again, but the electrode surface A of two-way inverting element 1 may store the driving electric signal that produces in the implementation, two-way inverting element 1 electrode surface A goes up existing responsive electric signal at this moment the driving electric signal again, so in order to extract responsive electric signal exactly, carrying out insertion discharge time slot between time slot and the sensing time slot, promptly discharge and drive electric signal, thereby make the transducing signal of next time slot not be subjected to the influence of current execution signal by discharge channel 4; When disconnecting sensitive switch K
1With the execution K switch
2, closed discharge switch K
3The time, enter the discharge time slot.In the 4th step, repeat above-mentioned three steps, sensing time slot τ
1, carry out time slot τ
2With discharge time slot τ
3Constitute a sensing performance period T, as accompanying drawing 3, the switch speed of sensor and actuator equals the signal sampling frequency of control system, also equals the inverse of sensing performance period T, and the switch speed of sensor and actuator should be greater than structure 2 times of the highest controlled model frequency.At switch control voltage V
K1, V
K2And V
K3Each switch conduction during low level, V
K1During low level the sensing time slot, V
K2Be execution time slot, V during low level
K3Be the discharge time slot during low level.Two-way like this inverting element 1 in a time slot as the sensor of measuring vibrations, the actuator that in another time slot, vibrates as control, so between sensor and actuator, alternately switch fast, sensor and actuator are the equal of to work simultaneously, be that actuator also has the function of sensor simultaneously, thereby realized self perception executor.In a sensing performance period T, carry out time slot τ
2Greater than sensing time slot τ
1, guaranteeing to increase execution time slot τ under the correct prerequisite of transducing signal sampling
2, shorten sensing time slot τ
1, shorten discharge time slot τ
3
Accompanying drawing 4 is one embodiment of the present of invention, utilize the two-way inverting element of piezoelectricity to have the characteristics of direct piezo electric effect and inverse piezoelectric effect, by design on-off circuit, switching sequence control circuit and discharge circuit, make a two-way inverting element of piezoelectricity in a time slot, do actuator, in another time slot, make sensor, carry out function and sensing function and hocket with time division multiplexing mode, actuator has sensor function simultaneously concurrently.In this example, realize Piezoelectric Self-Sensing Actuator and be applied to the Active Vibration Control of semi-girder with time-division multiplexing method.Two-way inverting element 1 is a slice piezoelectric ceramic wafer, and its electrode surface B sticks on the root and the ground connection of semi-girder 10, and electrode surface A is as charge detection face and actuator driven face; Semi-girder 10 is the aluminium beam, and the single order model frequency is 13.6Hz.Sensor signal amplifying circuit 7 is designed to charge amplifier in this example, and it not only zooms into voltage with electric charge, and its integral action makes discrete sense voltage convert continuous signal to, and charge amplifier can be selected commercial product or design voluntarily for use; Low-pass filter 8 is used for the high frequency interference in the filtering transducing signal, is designed to the second order Butterworth filter; The driving voltage of piezo actuator will have certain power, and piezo actuator driving circuit 9 can be selected commercial power amplifier for use or be that core designs voluntarily with the high voltage operational amplifier.Controller 6 is made up of PC and the NI PCI6221 data collecting card that is inserted on the PC PCI groove, have A/D, D/A module and digital quantity input and output DI/DO module on the PCI6221 data collecting card, switching sequence control circuit 5 is finished by the DI/DO module of PCI6221 data collecting card.
IC
1And IC
2Be the Photo MOS relay AQW214EH of same model, IC
1Pin p
1, p
2, p
7And p
8Take on sensitive switch K
1, gating pulse V
K1Be applied to IC
1Pin p
2On; IC
1Pin p
3, p
4, p
5And p
6Take on the execution K switch
2, gating pulse V
K2Be applied to IC
1Pin p
4On; IC
2Pin p
1, p
2, p
7And p
8Take on discharge switch K
3, gating pulse V
K3Be applied to IC
2Pin p
2On.IC
1And IC
2The AC load voltage peak be 400V, be about 150V and drive the required control voltage peak of piezoelectric patches, satisfy high pressure requirement; ON time is 0.5ms, and be 0.08ms closing time, and the highest switch switching frequency is used for the single order model frequency and has only the cantilever beam system of tens Hz can satisfy rate request near 2kHz.Biasing resistor R
2, R
3, R
4An end be linked together and meet power supply+5V, R
2=R
3=R
4=2.5k Ω.
Switching sequence control circuit 5 is the DI/DO module of M PCI6221 data collecting card, and this module provides three tunnel gating pulse V
K1, V
K2And V
K3, waveform such as accompanying drawing 3.Concrete grammar is: by the frequency of timer conter as clock reference, τ
1, τ
2And τ
3It must be the integral multiple in timer conter cycle; Model frequency, IC according to semi-girder 10
1, IC
2Switching speed and the control effect that will reach, determine τ
1, τ
2And τ
3Size and the frequency of timer conter; Select the port 0 of DI/DO, write the port controlling word, working procedure can produce pulse waveform; By revising the port controlling word, can adjust the length of sensing time slot and execution time slot, adjust the switching frequency of sensor and actuator.In this example, τ
1=τ
3=1.5ms, τ
2=3ms, T=6ms shows that sensor and actuator switched 167 times in 1 second, the sampling rate of control system is 167Hz.
In the sensing time slot, V
K1Control IC
1Pin p
7And p
8Be communicated with, the electric charge on the electrode surface A is through IC
1Pin p
8Zoomed into voltage by sensor signal amplifying circuit 7,, enter PC as the feedback of status data by the sampling of the A/D converter in the controller 6 through low-pass filter 8 filtering high frequency interference; The feedback of status data form controlled quentity controlled variable through the computing under data necessary processing and the certain control algolithm in PC; PC is exported controlled quentity controlled variable by D/A converter, in carrying out time slot, and V
K2Control IC
1Pin p
5And p
6Be communicated with, controlled quentity controlled variable is carried out power amplification through actuator driven circuit 9, through pin p
6Be applied to electrode surface A.Piezoelectric element is a capacitive device, and the driving electric charge of electrode surface A storage can not disappear at once in the process of implementation, if enter next sensing time slot at once after carrying out time slot, electrode surface A goes up existing responsive electric charge so the driving electric charge again.In order to make the driving electric charge not influence responsive electric charge, V
K3Control IC
2Pin p
7And p
8Be communicated with, make electrode surface A pass through IC
2Pin p
8Connect discharge resistance R
1, electric charge is by R
1Discharge R
1=200 Ω.
Control algolithm is the positive position feedback.Semi-girder 10 is applied constant perturbation vibrations, make piezoelectric element detect this perturbation vibrations and suppress this vibration, adopt independently current vortex displacement meter Monitoring and Controlling effect.The output voltage waveforms of current vortex displacement meter is by Tektronic oscillograph TDS1002 record, and as Fig. 5, the big more expression Oscillation Amplitude of voltage magnitude is big more.t
1It is the initial moment of control, the peak value at the vibration signal peak of control front boom beam 10 is 0.42V, the peak value of control after vibration signal peak is 0.31V, before control back boom vibration of beam amplitude is reduced to and controls 75%, it is resultful as seen adopting Piezoelectric Self-Sensing Actuator that semi-girder is carried out Active Vibration Control.Choosing of control algolithm is very crucial, though the control algolithm of Cai Yonging is not best, suffices to show that the time division multiplexing decoupling method of realizing self perception executor is feasible here.Present embodiment is applicable to low model frequency structure especially flexible structure is carried out from perception Active Vibration Control, System Discrimination and Gernral Check-up.
Claims (3)
1. time division multiplexing decoupling method of realizing self perception executor, adopt two-way inverting element, it is characterized in that: adopt switching sequence control circuit (5) to control two-way inverting element (1) as sensor or actuator, when two-way inverting element (1) uses as sensor, adopt sensitive switch (K
1) switch, when two-way inverting element (1) uses as actuator, adopt and carry out switch (K
2) switch, adopt discharge switch (K
3) give two-way inverting element (1) discharge, these three switches alternate conduction and ending under the control of switching sequence control circuit (5); Two-way inverting element (1) produces control displacement or power as actuator then earlier as sensor speed or force signal, and last two-way inverting element discharge is finished a sensing and carried out function; The concrete steps of sensing and execution are: at first closed (K
1), disconnect (K
2) and (K
3), the sensitive information on the two-way inverting element (1) is through (K
1) entering sensor signal amplifying circuit (7), two-way inverting element this moment (1) uses as sensor, information such as the speed of detection architecture or power; The closed then switch (K that carries out
2), disconnect sensitive switch (K
1) and discharge switch (K
3), the controlled quentity controlled variable of controller (6) output is through the two-way inverting element of actuator driven circuit (9) rear drive (1), and two-way inverting element this moment (1) uses as actuator, and actuator produces displacement or power; Last closed (K
3), disconnect (K
1) and (K
2), the electric energy that two-way inverting element (1) is gone up accumulation is discharged by discharge channel (4); The switch speed height of sensor and actuator, switch speed equals the signal sampling frequency, and the switch speed of sensor and actuator should be greater than structure 2 times of the highest controlled model frequency; A sensing performance period (T) equals sensing time slot (τ
1), carry out time slot (τ
2), discharge time slot (τ
3) summation, in a sensing performance period (T), carry out time slot (τ
2) greater than sensing time slot (τ
1), guaranteeing to increase execution time slot (τ under the correct prerequisite of transducing signal sampling
2), shorten sensing time slot (τ
1), shorten discharge time slot (τ
3).
2. the time division multiplexing decoupling method of realization self perception executor as claimed in claim 1, the feature of its control system is: comprise two-way inverting element (1), sensing passage (2), carry out passage (3), discharge channel (4), switching sequence control circuit (5) and controller (6); Electrode surface (B) ground connection of two-way inverting element (1); The electrode surface (A) of two-way inverting element (1) meets switch (K
1), (K
2) and (K
3) left end; Sensing passage (2) is by sensitive switch (K
1), sensor signal amplifying circuit (7) and low-pass filter (8) form sensitive switch (K
1) right-hand member connect sensor signal amplifying circuit (7), the output of sensor signal amplifying circuit (7) connects low-pass filter (8), the output of low-pass filter (8) connects controller (6); Carry out passage (3) by carrying out switch (K
2) and actuator driven circuit (9) composition, the output of controller (6) connects actuator driven circuit (9), and the output of actuator driven circuit (9) connects carries out switch (K
2) right-hand member; Discharge channel (4) is by discharge switch (K
3) and discharge resistance (R
1) form discharge switch (K
3) right-hand member meet discharge resistance (R
1), discharge resistance (R
1) ground connection.
3. according to claim 1 or 2, the time division multiplexing decoupling method of described realization self perception executor and control system is characterized in that two-way inverting element (1) is piezoelectric element or magnetostriction element; Switching sequence control circuit (5) is DLC (digital logic circuit) or pulse signal generator; Controller (6) is digital signal processor DSP or microcomputer or Single Chip Microcomputer (SCM) system.
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| CN102887345A (en) * | 2012-11-01 | 2013-01-23 | 大连理工大学 | Sensorless speed regulation controller based on observation method and sensorless speed regulation control method for piezoelectric vibration feeder |
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| CN102887345A (en) * | 2012-11-01 | 2013-01-23 | 大连理工大学 | Sensorless speed regulation controller based on observation method and sensorless speed regulation control method for piezoelectric vibration feeder |
| CN102887345B (en) * | 2012-11-01 | 2014-08-27 | 大连理工大学 | Sensorless speed regulation controller based on observation method and sensorless speed regulation control method for piezoelectric vibration feeder |
| CN105789429A (en) * | 2016-04-08 | 2016-07-20 | 合肥工业大学 | Array flexible curved surface self-sensing driver based on IPMC and preparation method thereof |
| CN105789429B (en) * | 2016-04-08 | 2018-11-20 | 合肥工业大学 | A kind of array-type flexible curved surface self-sensing actuator and preparation method thereof based on IPMC |
| CN106486594A (en) * | 2016-10-12 | 2017-03-08 | 哈尔滨工业大学 | Piezoelectric Self-Sensing Actuator and its filtering method of electric jamming |
| CN106486594B (en) * | 2016-10-12 | 2019-01-11 | 哈尔滨工业大学 | The filtering method of Piezoelectric Self-Sensing Actuator and its electric jamming |
| CN107328403A (en) * | 2017-07-28 | 2017-11-07 | 中国电子科技集团公司第二十六研究所 | The demodulation integrating circuit and the control method of circuit of a kind of fibre optic gyroscope angular speed |
| CN108418463A (en) * | 2018-03-28 | 2018-08-17 | 京东方科技集团股份有限公司 | A kind of time-sharing multiplex piezoelectric circuit and its control method, piezo-electric device |
| CN110868193A (en) * | 2019-11-13 | 2020-03-06 | 宁波大学 | Self-sensing method for output displacement and output force of piezoelectric actuator |
| CN112067188A (en) * | 2020-08-26 | 2020-12-11 | 东北电力大学 | Flexible pull rod type series connection inter-dimension decoupling wireless passive sensor |
| CN112067188B (en) * | 2020-08-26 | 2021-09-10 | 东北电力大学 | Flexible pull rod type series connection inter-dimension decoupling wireless passive sensor |
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