CN101382806B - Low frequency modal vibration control apparatus and method for simulating bending and torsion for space sailboard - Google Patents
Low frequency modal vibration control apparatus and method for simulating bending and torsion for space sailboard Download PDFInfo
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- CN101382806B CN101382806B CN2008101989241A CN200810198924A CN101382806B CN 101382806 B CN101382806 B CN 101382806B CN 2008101989241 A CN2008101989241 A CN 2008101989241A CN 200810198924 A CN200810198924 A CN 200810198924A CN 101382806 B CN101382806 B CN 101382806B
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Abstract
The invention discloses a device for controlling vibration when simulating the bending and torsional low-frequency modes of a space sailboard, and a method thereof. The device is stuck with a resistance strain gauge on a flexible cantilever plate close to a longitudinal center line of a fixed end with an attitude angle of 0 degree to serve as a bending mode sensor and multi-way shape memory alloy (SMA) springs are symmetrically arranged on the front surface and the rear surface of the flexible plate, with the attitude angle of 0 degree, to serve as a bending mode piezoelectric actuator. Two resistance strain gauges are anti-symmetrically and bilaterally stuck on the flexible plate close to a free end, with the attitude angle of 45 degrees, to form a torsional mode sensor, and four shape memory alloy springs are anti-symmetrically and bilaterally stuck close to the free end to form two paths of torsional mode drivers with opposite phases. The device and the method utilize the optimized allocation of the SMA springs, realize the decoupling of the bending and torsional low-frequency vibrating modes of a large cantilever plate and the purpose of actively controlling the bending mode and the torsional mode of the flexible cantilever plate.
Description
Technical field
The present invention relates to large-scale flexible cantilever slab structural vibration control, the bending and the torsion low frequency mode Active Vibration Control apparatus and method that particularly relate to a kind of simulated space windsurf board structure, specifically provide a kind ofly, use to distribute rationally and realize crooked and torsion low frequency mode Active Vibration Control apparatus and method based on resistance strain gage sensor and marmem (SMA) spring drive at the flexible space sailboard cantilever flex plate structure of simulation.
Background technology
Along with the develop rapidly of spationautics, new requirement has been proposed for the performance of space structure system.Maximization, low rigidity and flexibility are an important development trend of spacecraft structure.Large scale structure can increase the function of space structure, and the dirigibility that the use of large-scale flexible annex has increased the spacecraft design on the one hand and made has reduced launch cost, can be space structure as large-sized solar battery battle array the sufficient more energy is provided.The size of space sailboard is increasing, such as the RAE satellite four large-scale antennas that reach 228.8m are housed, in the space energy planning of the exploitation exoatmosphere sun power that the U.S. formulates, then require installation to reach more than ten kilometer this huge and thin structure of solar energy sailboard.This huge and thin structure, the lower mode frequency of its vibration is very low, controls so will carry out low frequency modal; Distributed parameter system in essence, strong coupling and strong nonlinearity; Complex structure, the parameter mutability, suffered disturbance has uncertainty, so high order system modeling and High Accuracy Control are unusual stubborn problems.Especially under the space condition, flexible structure is difficult to control more, therefore, the ACTIVE CONTROL of large-scale flexible structural vibration is challenging important topic with regard to becoming world today's common concern, the vibration characteristics of research large space structure, and it is carried out vibration control is important topic and difficult point in the space structure design task.Adopt intellectual material the space flexible structure to be carried out active vibration control, realize that the fast vibration of flexible structure suppresses, improve spacecraft attitude stabilization and pointing accuracy as sensor and actuator composition intelligence structure technology.
In the prior art, the mode of flexural vibration and the torsion mode vibration control of the flexible cantilever plate structure of research simulated space windsurf board, mainly contain and adopt piezoelectric patches, acceleration transducer and angular rate gyroscope etc. to realize bending and torsion mode decoupling zero on detecting and driving, carry out Active Vibration Control by distributing rationally.Piezoelectric PZT bandwidth, it is big to exert oneself, but deflection is little; Piezoceramic material (PZT) have control accurately, be easy to distribute, advantage that reaction velocity is fast, but control is lower, can only realize fine setting, can't carry out bigger distortion adjustment.Adopt above-mentioned sensor and driver in the range of frequency bandwidths of a few to tens of hertz at zero point, can reach effect preferably with respect to frequency; , the frequency of the low-frequency vibration modal vibration of large-scale flexible space sailboard is lower than 0.1 hertz, and the control of therefore using above-mentioned sensor and driver has the limitation on the bandwidth, DeGrain.The advantage of shape memory alloy material sma actuator is to have bigger control in the intellectual material, can realize various ways, and deflection is big, and driving force is big during heat driven, the strain sensitivity height; Shortcoming is that response speed is slow, and the driving frequency bandwidth is generally less than 0.1Hz, is difficult to use in fast dynamically control, adopts SMA to carry out the extremely low frequency Active Vibration Control.The relevant patent of professor's Zhu Xiaojin application of Shanghai University, number of patent application is 200710040519.2, denomination of invention: in " based on the space sailboard structure low frequency modal Method of Active Vibration Control and the device of form perception ", utilize fiber-optic grating sensor that windsurfing structural vibrations form is carried out real-time perception, and produce control strategy according to the structural vibration information of perception, drive marmem and realize eliminating or reducing the structural vibration corresponding target; But in this application patent, do not provide the bending of Flexible Cantilever Plate and the decoupling problem of torsion modes, and not mentioned drive controlling to the torsion mode vibration.And fiber grating network signal instrument costs an arm and a leg, and the cost of system increases greatly.Therefore for the vibration of low frequency modal, can consider to adopt resistance strain gage or piezoelectric patches to connect the Dynamic Signal strainmeter respectively or charge amplifier can be measured low frequency or even static strain, can reduce cost like this, and realize the ACTIVE CONTROL of large-scale Flexible Cantilever Plate bending and torsion low frequency mode of oscillation by the proper optimization configuration.Therefore, the present invention adopts resistance strain gage sensor and marmem to carry out the Active Vibration Control of crooked and torsion low frequency mode of oscillation.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of active control device of simulating flexible space windsurfing structural bending and torsion mode low-frequency vibration is provided.
Another object of the present invention is to provide the control method of the bending that utilizes said apparatus and torsion low frequency vibration.
In order to achieve the above object, the present invention adopts following method and technical scheme:
Crooked and the torsion low frequency mode vibration control apparatus of a kind of simulated space windsurf board, the flex plate of this device is fixed as cantilever slab by the machinery mount clamping device, is that 0 ° of adhering resistance strain sheets is as mode of flexural vibration piezoelectric strain sheet sensor in Flexible Cantilever Plate near stiff end longitudinal midline attitude angle, and the two sides attitude angle is that 0 ° of symmetry is installed multichannel marmem SMA spring as the mode of flexural vibration marmen before and after flex plate, fore-and-aft distance at flex plate between the multichannel SMA spring is 100～300mm, and the mode of flexural vibration marmen is positioned at flex plate near the horizontal 20～100mm of stiff end; The positive attitude angle of close free-ended longitudinal midline is that 45 ° of two-sided antisymmetry are pasted the resistance strain gage combination sensor that 2 resistance strain gages are formed torsion modes on flex plate, and forming one of opposite torsion mode marmen of two-way phase place and two of torsion mode marmen near four shape memory alloy springs of the two-sided antisymmetry stickup of free end longitudinal midline, two of one of torsion mode marmen and torsion mode marmen is respectively 45 ° and 135 ° of two-sided antisymmetry installations by two shape memory alloy springs according to positive attitude angle respectively, and opposite on the driving phase place; Mode of flexural vibration piezoelectric strain sheet sensor is connected with the multichannel dynamic resistance strain instrument respectively with the resistance strain gage combination sensor, and dynamic resistance strain instrument is connected with computing machine by hyperchannel A/D translation data capture card, and computing machine connects display; Two of one of mode of flexural vibration marmen, torsion mode marmen and torsion mode marmen is connected with high-power low tension switch power supply by the switch interface circuit board respectively, and the switch interface circuit board is connected with the control computer signal by the I/O circuit board.
Two of one of described torsion mode marmen and torsion mode marmen installed by two shape memory alloy spring antisymmetry respectively and formed, and each driver overlaps in the flex plate lateral separation at the center of length direction, and two drivers are installed on the driving phase place opposite.
Described mode of flexural vibration piezoelectric strain sheet sensor and resistance strain gage combination torsion sensor are selected BHF series sensor strain ga(u)ge for use.
Use said apparatus and carry out the crooked and torsion low frequency mode vibration control method of simulated space windsurf board, adopt distributing rationally of resistance strain gage and marmem SMA spring, carry out the low frequency bending of large-scale Flexible Cantilever Plate and the detection and the driving of torsion mode; Bending and torsion low frequency vibration signal according to the resistance strain gage detection, by entering control computer through A/D translation data capture card behind the dynamic resistance strain instrument, behind the operation control corresponding algorithm, utilize the solid-state relay of I/O circuit board driving switch interface card, determine the corresponding SMA spring drive of high-power low tension switch power drives by switch, produce low frequency drive controlling crooked and torsion mode respectively and move, thereby the low frequency bending and the torsion mode that suppress large-scale Flexible Cantilever Plate vibrate.
The present invention has following advantage and beneficial effect compared with the prior art:
(1) resistance strain gage can be measured low frequency or even static strain, therefore, on large-scale Flexible Cantilever Plate by suitable mode adhering resistance strain sheets, the bending that can tactful large-scale Flexible Cantilever Plate and the vibration of torsion low frequency mode, and be easy to realize the crooked and decoupling zero of torsion modes in detection of low frequency.
(2) because the frequency of the low-frequency vibration modal vibration of large-scale flexible space sailboard is lower than 0.1 hertz, it is to have bigger control that the present invention adopts the advantage of marmem, can realize various ways, deflection is big, driving force is big during heat driven, the strain sensitivity height, and be suitable for the driving frequency bandwidth less than 0.1Hz, so adopt SMA to carry out the low-frequency vibration that the extremely low frequency Active Vibration Control can suppress Flexible Cantilever Plate effectively.And the present invention adopts distributing rationally of shape memory alloy material SMA spring drive both can realize the crooked and decoupling zero of torsion low frequency mode on driving of large-scale Flexible Cantilever Plate, after the vibration information operation corresponding control strategies according to the resistance strain gage detection, can suppress the vibration of large-scale Flexible Cantilever Plate bending and torsion mode effectively by the SMA spring drive.
Description of drawings
Fig. 1 is the crooked and torsion low frequency mode vibration control apparatus structural representation of simulated space windsurf board of the present invention.
Fig. 2 is cantilever slab front resistance strain gage sensor and a sma actuator configuration distribution schematic diagram among Fig. 1.
Fig. 3 is cantilever slab back side resistance strain gage sensor and a sma actuator configuration distribution schematic diagram among Fig. 1.
Fig. 4 is the circuit diagram of switch driving circuit plate among Fig. 1.
Embodiment
The present invention is further illustrated below in conjunction with drawings and Examples, but the scope of protection of present invention is not limited to the scope that embodiment expresses.
As Fig. 1,2, shown in 3, simulated space windsurf board bending and torsion low frequency mode vibration control apparatus comprise the machinery mount clamping device, Flexible Cantilever Plate 3, mode of flexural vibration marmen 1, mode of flexural vibration piezoelectric strain sheet sensor 2,26 of one of torsion mode marmen 4 and torsion mode marmen, be used to detect the resistance strain gage combination sensor 5 of torsion mode, dynamic resistance strain instrument 7, hyperchannel A/D translation data capture card 8, computing machine 9, LCD 13, I/O circuit board 10, switch driving circuit plate 11 and high power switching power supply 12; The flex plate of this device is fixed as cantilever slab by the machinery mount clamping device, utilize resistance strain gage to vibrate as the sensor low frequency modal, the SME of SMA spring and superelastic effect are as driver, and the shape memory alloy spring that this example adopts all is to produce tensile force in energising heating post shrinkage.Switch driving circuit plate 11 is made up of solid-state relay, and the forceful electric power that is driven the light current control high power switching power supply 12 of relays by multichannel I/O circuit board 10 is given multichannel shape memory alloy spring driver energising heating.In addition, mode of flexural vibration piezoelectric strain sheet sensor 2 and resistance strain gage combination sensor 5 in this device can replace with piezoelectric ceramic piece, and arrangement is identical, and dynamic resistance strain instrument changed the extremely low frequency charge amplifier into and got final product this moment.
Mode of flexural vibration marmen 1 adopts double-pass memory effect (to recover high temperature shape mutually during the marmem heating with one of torsion mode marmen 4, can recover low temperature phase shape during cooling again, be called double-pass memory effect) the NiTi shape memory alloy spring.Mode of flexural vibration piezoelectric strain sheet sensor 2 and resistance strain gage combination torsion sensor 5 can be selected BHF series BX120-2AA type sensor strain ga(u)ge for use.It is YE3817C hyperchannel, universal dynamic strain indicator that dynamic resistance strain instrument 7 can be selected Jiangsu Lianneng Electronic Technology Co., Ltd.'s model for use.Taiwan Advantech company), (magnificent IPC610 cabinet is ground in Taiwan to computing machine 9 hyperchannel A/D translation data capture card 8 (model: PCL-818HD production unit:, PCA-6006 mainboard production unit: Taiwan Advantech company, Pentium IV 2.4G Intel CPU), hyperchannel D/A conversion and I/O card 10 (model: PCL-727 production unit: Taiwan Advantech company).
Switch driving circuit plate 11 adopts the SSR solid-state relay to drive, as shown in Figure 4.Structure and principle are: when No. 1 port input high level signal by the SSR solid-state relay, here No. 2 ports are signal ground, then conducting between No. 3 ports and No. 4 ports, when No. 1 port is low level, No. 3 ports and No. 4 ports end, and just power to marmen by direct current 24V power supply.High power switching power supply 12 is chosen QF1712-5 type forward direct supply, nominal supply voltages 30V, electric current 10A.
According to controllability (mode of flexural vibration marmen 1, one of torsion mode marmen 4 and torsion mode marmen 26 respectively to the drive controlling ability of flex plate) and controllability (observing capacity of crooked to the Flexible Cantilever Plate respectively and twisting vibration of mode of flexural vibration piezoelectric strain sheet sensor 2 and resistance strain gage combination sensor 5) criterion, to mode of flexural vibration piezoelectric strain sheet sensor 2 and resistance strain gage combination sensor 5, mode of flexural vibration marmen 1,26 of one of torsion mode marmen 4 and torsion mode marmen is optimized configuration.
Is that 0 ° of adhering resistance strain sheets is as mode of flexural vibration piezoelectric strain sheet sensor 2 in Flexible Cantilever Plate near stiff end longitudinal midline attitude angle, and the two sides attitude angle is that 0 ° of symmetry is installed multichannel marmem SMA spring as mode of flexural vibration marmen 1 before and after flex plate, fore-and-aft distance at flex plate between the multichannel SMA spring is 100～300mm, near the horizontal 20～100mm of stiff end, be used to control the low frequency flexural vibration mode at flex plate; The positive attitude angle of close free-ended longitudinal midline is that 45 ° of two-sided antisymmetry are pasted the resistance strain gage combination sensor 5 that 2 resistance strain gages are formed torsion modes on flex plate, and forming 26 of one of opposite torsion mode marmen of two-way phase place 4 and torsion mode marmen near four shape memory alloy springs of the two-sided antisymmetry stickup of free end longitudinal midline, 26 of one of torsion mode marmen 4 and torsion mode marmen is that the two-sided antisymmetry of 45 ° and 135 ° are installed by two shape memory alloy springs according to positive attitude angle respectively, and the every road shape memory alloy spring in 26 these two-way of one of torsion mode marmen 4 and torsion mode marmen at the center of length direction at the flex plate length direction apart from coincidence; 26 installation form of one of torsion mode marmen 4 and torsion mode marmen drive on the phase place opposite, drive the positive and the anti-phase motion of torsion modes respectively, reach the purpose that suppresses the Flexible Cantilever Plate Low Frequency Torsional Vibration.
Mode of flexural vibration piezoelectric strain sheet sensor 2 is connected with multichannel dynamic resistance strain instrument 7 respectively with resistance strain gage combination sensor 5, and dynamic resistance strain instrument 7 is connected with computing machine 9 by hyperchannel A/D translation data capture card 8, and computing machine connects display 13; 26 of one of mode of flexural vibration marmen 1, torsion mode marmen 4 and torsion mode marmen is connected with high-power low tension switch power supply 12 by switch interface circuit board 11 respectively, and switch interface circuit board 11 is connected with the control computer signal by I/O circuit board 10.
When the low-frequency vibration of control mode of flexural vibration, the vibration information of the mode of flexural vibration that detects according to mode of flexural vibration piezoelectric strain sheet sensor 2, behind the operation control corresponding algorithm, give definite according to control phase respectively by large power supply 12 by gauge tap drive circuit board 11 to the energising of the end in the two ends of one of mode of flexural vibration marmen 1 heating, drive controlling mode of flexural vibration.
When the vibration of control torsion mode, information according to the resistance strain gage combination sensor 5 that detects, behind the operation control corresponding algorithm, and according to the phase place of vibrating, the gauge tap drive circuit board heats 26 shape memory alloy spring group of one of torsion mode marmen 4 and torsion mode marmen, drive controlling torsion mode respectively by large power supply.Here 26 of one of torsion mode marmen 4 and torsion mode marmen are made up of two marmem antisymmetry mounting spring respectively, the marmem that the antisymmetry on every road is installed is controlled the energising heating simultaneously, stretch simultaneously by two-sided antisymmetry like this, drive torsion mode, opposite according to 26 driving phase place of one of mounting means torsion mode marmen 4 and torsion mode marmen.
Claims (4)
1. the crooked and torsion low frequency mode vibration control apparatus of a simulated space windsurf board, the flex plate of this device is fixed as cantilever slab by the machinery mount clamping device, it is characterized in that, is that 0 ° of adhering resistance strain sheets is as mode of flexural vibration piezoelectric strain sheet sensor in Flexible Cantilever Plate near stiff end longitudinal midline attitude angle, and the two sides attitude angle is that 0 ° of symmetry is installed multichannel marmem SMA spring as the mode of flexural vibration marmen before and after flex plate, fore-and-aft distance at flex plate between the multichannel SMA spring is 100～300mm, and the mode of flexural vibration marmen is positioned at flex plate near the horizontal 20～100mm of stiff end; The positive attitude angle of close free-ended longitudinal midline is that 45 ° of two-sided antisymmetry are pasted the resistance strain gage combination sensor that 2 resistance strain gages are formed torsion modes on flex plate, and forming one of opposite torsion mode marmen of two-way phase place and two of torsion mode marmen near four shape memory alloy springs of the two-sided antisymmetry stickup of free end longitudinal midline, two of one of torsion mode marmen and torsion mode marmen is 45 ° and 135 ° of two-sided antisymmetry installations by two shape memory alloy springs according to positive attitude angle respectively, and opposite on the driving phase place; Mode of flexural vibration piezoelectric strain sheet sensor is connected with the multichannel dynamic resistance strain instrument respectively with the resistance strain gage combination sensor, and dynamic resistance strain instrument is connected with computing machine by hyperchannel A/D translation data capture card, and computing machine connects display; Two of one of mode of flexural vibration marmen, torsion mode marmen and torsion mode marmen is connected with high-power low tension switch power supply by the switch interface circuit board respectively, and the switch interface circuit board is connected with the control computer signal by the I/O circuit board.
2. the crooked and torsion low frequency mode vibration control apparatus of simulated space windsurf board according to claim 1, it is characterized in that two of one of described torsion mode marmen and torsion mode marmen installed by two shape memory alloy spring antisymmetry respectively forms, and each driver overlaps in the flex plate lateral separation at the center of length direction.
3. the crooked and torsion low frequency mode vibration control apparatus of simulated space windsurf board according to claim 1 is characterized in that described mode of flexural vibration piezoelectric strain sheet sensor and resistance strain gage make up torsion sensor and select BHF series sensor strain ga(u)ge for use.
4. application rights requires 1 described device to carry out the crooked and torsion low frequency mode vibration control method of simulated space windsurf board, it is characterized in that adopting distributing rationally of resistance strain gage and marmem SMA spring, carry out the low frequency bending of large-scale Flexible Cantilever Plate and the detection and the driving of torsion mode; Bending and torsion low frequency vibration signal according to the resistance strain gage detection, by entering control computer through A/D translation data capture card behind the dynamic resistance strain instrument, behind the operation control corresponding algorithm, utilize the solid-state relay of I/0 circuit board driving switch interface card, determine the corresponding SMA spring drive of high-power low tension switch power drives by switch, produce low frequency drive controlling crooked and torsion mode respectively and move, thereby the low frequency bending and the torsion mode that suppress large-scale Flexible Cantilever Plate vibrate.
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Families Citing this family (9)
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| CN102183893B (en) * | 2011-02-14 | 2013-06-26 | 北京航空航天大学 | Low-frequency large-deflection adjustable inertia load analog piece |
| CN103241389B (en) * | 2013-04-25 | 2015-08-05 | 上海卫星工程研究所 | For the mechanism of Zeng Pin in-orbit of spacecraft flexible appendage |
| CN103399570B (en) * | 2013-07-29 | 2015-10-28 | 华南理工大学 | A kind of virtual space aircraft wall panel structure flutter/vibration control apparatus and method |
| CN104142125A (en) * | 2014-07-23 | 2014-11-12 | 华南理工大学 | Piezoelectric plate vibration detection and control device and method based on laser displacement sensor |
| CN104176230B (en) * | 2014-07-25 | 2016-10-05 | 华南理工大学 | Tapered airfoil vibration control apparatus and method based on Eddy current displacement sensor |
| CN107132015A (en) * | 2017-06-16 | 2017-09-05 | 华南理工大学 | A kind of vibration measurement of flexible board and control device and method |
| CN109925069B (en) * | 2019-03-14 | 2021-01-29 | 清华大学 | Three-dimensional pose detection device and method |
| CN111396274B (en) * | 2020-04-03 | 2022-05-13 | 中国科学技术大学 | Perception-drive integrated thin plate driver based on shape memory alloy |
| CN111766905A (en) * | 2020-07-07 | 2020-10-13 | 中国科学院沈阳自动化研究所 | Active vibration suppression test system for space solar sailboard |
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