CN101412020B - Combined wide-band actuator system and actuator thereof - Google Patents
Combined wide-band actuator system and actuator thereof Download PDFInfo
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- CN101412020B CN101412020B CN2008102362707A CN200810236270A CN101412020B CN 101412020 B CN101412020 B CN 101412020B CN 2008102362707 A CN2008102362707 A CN 2008102362707A CN 200810236270 A CN200810236270 A CN 200810236270A CN 101412020 B CN101412020 B CN 101412020B
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Abstract
The invention relates to a composite type broad band actuator system and an actuator thereof, which belongs to the technical field of active control or novel actuators. The system is characterized in that a voltage input signal (1) is connected with a signal input circuit (2) and a frequency divider (3) in turn, wherein the output end of the frequency divider (3) is divided into two branches; one branch is connected with a piezoelectric actuator through a piezoelectric power amplifier (4); the other branch is connected with an electromagnetic actuator through an electromagnetic power amplifier (5); and the electromagnetic actuator and output signals of the piezoelectric actuator are superposed and then connected with an output end (8). The composite type broad band actuator comprises the electromagnetic actuator, and is characterized that an output shaft of the electromagnetic actuator is also combined with the piezoelectric actuator. The system and the composite type broad band actuator are combined and provided with corresponding frequency dividing and driving circuits and make full use of the advantages of the two actuators to expand working frequency bands.
Description
Technical field
The present invention relates to a kind of combined wide-band actuator system and actuator thereof, belong to ACTIVE CONTROL or novel actuator technical field.
Background technology
As one of the important branch in vibration control field, the Active Vibration Control development has all obtained the incomparable effect of Passive Control in a lot of occasions such as precision instrument, Aero-Space, communications and transportation and machinery rapidly.Actuator claims actuator again, is the key component in the ACTIVE CONTROL system.The effect of actuator is according to the control law of determining the control object to be applied control, to change the response of system by required mode.Traditional actuator comprises liquid start, gas actuation, electric start, electromagnetic activation etc., though have bigger impulse stroke, higher movement velocity and bearing capacity, volume and weight is big, resolution ratio is not high, responding range is narrower.Intelligent actuator based on smart material comprises the actuator that applying piezoelectric ceramic, piezoelectric membrane, marmem, magnetostriction alloy, current liquid etc. are made.In these intellectual material actuator, piezoelectric actuator has advantages such as frequency response range is wide, response speed is fast, precision is high, energy consumption is little, but only is applicable to that usually high band drives and the output displacement is less.Along with the raising that the object vibration control is required, also more and more high to the requirement of actuator, traditional and novel actuator all exists shortcoming separately, can't satisfy the demand of carrying out broadband control.The characteristics of considering structural vibration are, have big amplitude in low-frequency range, and are less in the amplitude of high band performance, realize the ACTIVE CONTROL vibrated, also are like this to the requirement of actuator.Therefore, basic ideas of the present invention are exactly, and by special structure, the big displacement electromagnetic actuator of low frequency and the little displacement piezoelectric actuator of high frequency are carried out compound, obtain the broadband combined type actuator that can both respond from the low frequency to the high-frequency range.
Summary of the invention
When electromagnetic actuator is operated in low-frequency range, its response characteristic is good, the output displacement is bigger, because the design feature of self has limited the upper limiting frequency of its work, so be difficult to meet the needs of the occasion of high frequency start, and piezoelectric actuator is when being operated in high band, response is fast, output displacement accuracy height, has remedied the deficiency of electromagnetic actuator.The present invention utilizes both advantages, with both combinations, provides a kind of combined wide-band actuator system and actuator thereof, expands its working band.
A kind of broadband combined type actuator system, it is characterized in that: the voltage output line road links to each other with signal input circuit, frequency divider successively, and wherein the frequency divider output is divided into two branch roads; Article one, branch road links to each other with piezoelectric actuator through the piezoelectric power amplifier; Another branch road links to each other with electromagnetic actuator through the electromagnetic power amplifier; Above-mentioned piezoelectric actuator links to each other with output with electromagnetic actuator output signal stack back.
A kind of combined wide-band actuator comprises electromagnetic actuator, it is characterized in that: also be compounded with piezoelectric actuator on the output shaft of electromagnetic actuator; The connecting rod that links to each other with piezoelectric actuator is as the total displacement output of this combined type actuator.
A kind of broadband combined type actuator system of the present invention comprises signal input circuit, frequency divider, piezoelectric power amplifier, electromagnetic power amplifier, combined type moving component.Wherein the combined type moving component comprises piezoelectric actuator and moving coil two parts.Signal input circuit is transported to the voltage signal of wideband the input of frequency divider, frequency divider is divided into high-frequency signal and low frequency signal with signal, and insert piezoelectric power amplifier and electromagnetic power amplifier respectively, the piezoelectric power amplifier provides pumping signal for piezoelectric actuator, and the electromagnetic power amplifier provides pumping signal for moving coil.The output displacement of combined type actuator shows as the stack that piezoelectric actuator and moving coil are exported displacement separately.When frequency input signal was low, the output of combined type actuator was based on the big displacement of moving coil output, and this moment, the output displacement of piezoelectric actuator almost can be ignored; When input signal was high-frequency signal, the output of combined type actuator was output as the master with piezoelectric actuator.Above a kind of broadband combined type actuator can satisfy Active Vibration Control to the different start requirements of actuator at low-frequency range and high band, makes the achieve effective control of whole actuating system energy.
General random vibration signal all is a broadband signal, and is bigger at the Oscillation Amplitude of low-frequency range, less at the Oscillation Amplitude of high band.Function of frequency divider is exactly for input signal being divided into two or more frequency ranges, adopts suitable actuator respectively for different frequency range, thereby brings into play the advantage of each actuator to greatest extent.Frequency divider realizes that by filtering principle input signal obtains low frequency signal behind low pass filter, obtain high-frequency signal behind high-pass filter.
The effect of power amplification be will input small-signal carry out electric current or (with) amplification of voltage, make it have enough energy to promote the actuation element of back.In the higher voltage input range, the output displacement and the input voltage of piezoelectric are linear, so the high-frequency signal that obtains behind the frequency division need be carried out suitable voltage amplification.Being used as power of moving coil is linear with electric current, amplifies so the low frequency signal that obtains behind the frequency division need be carried out suitable electric current, so that satisfy the start requirement of moving coil.
Piezoelectric actuator is as one of the core component of actuator among the present invention, and its generation that is used as power mainly is an inverse piezoelectric effect of having utilized piezoelectric.Inverse piezoelectric effect is meant on the polarised direction of piezoelectric element and passes to voltage, because effect of electric field causes the inner positive and negative charge of piezoelectric element center to produce relative displacement, causes the distortion of piezoelectric element.Be about to piezoelectric and make actuation element, electric energy is changed into mechanical energy by applying external electrical field, the output displacement, formation is used as power.Selecting the foundation of piezoelectric is its performance parameter, and to being used for piezoelectric actuator of the present invention, optional usefulness has the piezoelectric of big piezoelectric strain constant.
When moving coil passes to electric current, be subjected to the effect of long-range navigation thatch power, produce displacement.The size of long-range navigation thatch power is relevant with the number of turn, diameter, magnetic field intensity and the size of current of coil, and magnetic field is produced by permanent-magnet material, and forms closed magnetic circuit through soft magnetic bodies.The present invention realizes the displacement of moving coil is controlled by the control electric current.
Coil brace and piezoelectric actuator are overall structures.Because moving coil itself has big quality, it and springs have constituted the displacement response structure of a low pass, when piezoelectric produced dither, the coil of bottom almost remained static, so the output displacement of piezoelectric actuator all is embodied in the output of connecting rod.When preventing that coil brace from moving back and forth vertically and the magnetic material of actuator produce friction or collision, adopt springs that restoring force is provided.In conjunction with piezoelectric actuating and electromagnetic activation separately the broadband combined type actuator that combines of advantage can realize controlled device is controlled accurately and rapidly, be particularly useful for working band requirement broad and the higher workplace of positioning accuracy.
Description of drawings
Fig. 1 is a broadband combined type actuator system schematic diagram.
Fig. 2 is a broadband combined type actuator structure chart.
Label declaration in the accompanying drawing: A. combined type actuator, 1. voltage input signal, 2. signal input circuit, 3. frequency divider, 4. piezoelectric power amplifier, 5. electromagnetic power amplifier, 6. piezoelectric actuator, 7. moving coil, 8. output displacement, 9. base, 10. coil windings, 11. coil braces, 12. springs, 13. connecting rods, 14. piezoelectricity tubes, 15. permanent magnet, 16. soft magnetic bodies.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail:
Fig. 1 is a broadband combined type actuator system schematic diagram, and broadband combined type actuator system of the present invention comprises voltage input signal 1, signal input circuit 2, frequency divider 3, piezoelectric power amplifier 4, electromagnetic power amplifier 5, combined type actuator A.Wherein voltage input signal 1, signal input circuit 2, frequency divider 3, piezoelectric power amplifier 4 and electromagnetic power amplifier 5 are positioned at the periphery of combined type actuator A, the wideband of outside input is voltage signal at random, receive the input of frequency divider 3 through signal input circuit 2, frequency divider 3 respectively by low pass filter and high-pass filter, is divided into low-frequency range and high band two parts with this signal.The low-frequency range output signal that frequency divider 3 produces connects the input of electromagnetic activation power amplifier 5, and the high band output signal connects the input of piezoelectric power amplifier 4.Combined type actuator A comprises piezoelectric actuator 6 and moving coil 7, be transferred to the input of piezoelectric actuator 6 after piezoelectric power amplifier 4 amplifies high-frequency voltage signal, electromagnetic power amplifier 5 is enlarged into low-frequency voltage signal the input that is transferred to moving coil 7 behind the big current signal.
Fig. 2 is a broadband combined type actuator structure chart, base 9 fixing whole combined type actuator devices, permanent magnet 15 is fixed on the axis of actuator, coil brace 11 is between permanent magnet 15 and soft magnetic bodies 16, coil windings 10 is fixed on the coil brace 11, piezoelectricity tube 14 is fixed together with coil brace 11, and springs 12 is fixed between piezoelectricity tube 14 and the shell, and the connecting rod 13 that links to each other with piezoelectricity tube 14 is the output of combined type actuator.
Broadband combined type actuating system of the present invention combines the advantage of electromagnetic activation and piezoelectric actuating, makes the output characteristics of combined type actuator all better in low frequency and high-frequency range.For independent moving coil, the low-frequency range delivery stroke is big, but the high frequency respective performances is bad; For independent piezoelectric actuator, less in low-frequency range output displacement, but it is stronger to the follow-up capability of signal at high band, so at first input signal is carried out suitable frequency division by frequency divider, go start to be transported to corresponding actuator respectively, make every effort to make moving coil and piezoelectric actuating in low frequency, high-frequency range, to show the good dynamic response performance respectively.
The present invention selects moving coil for use, is used to export the type of drive of big stroke equally because that electromagnetic activation is compared is pneumatic, surge etc., and obtaining of power supply is more simple, the actuator controllability is good.Moving coil is realized power conversion by the law of electromagnetic induction, through the output current signal switch-on coil of electromagnetic activation power amplifier, makes its effect that is subjected to power in magnetic field produce motion.Coil position, the isoparametric designing requirement of length-width ratio are to provide size and the weight that as far as possible reduces coil under the magnetic potential prerequisite of need of work, to reduce coil heating and own wt to the actuator Effect on Performance.The magnetic material that constitutes magnetic conductive loop should have characteristics such as higher magnetic saturation density, magnetic conductivity, low magnetic hystersis loss to satisfy the requirement of electromagnetic activation.The main purpose of springs 12 is to prevent that moving coil is in the reciprocating motion process that continues, bump between coil brace and the permeability magnetic material (permanent magnet and soft magnetic bodies), also can play certain support and firm effect simultaneously to the piezoelectricity tube, and together form spring-quality low pass displacement responding system with moving coil, isolate the moving coil displacement that the piezoelectricity tube causes when dither.
Piezoelectric actuator of the present invention can adopt forms such as hollow cylinder piezoelectric actuator and piezoelectric pile.Piezoelectric actuator mainly is an inverse piezoelectric effect of utilizing piezoelectric.The hollow cylinder piezoelectric actuator is made of the hollow cylinder piezoelectric of thin-wall metal cylindrical tube and stickup thereon, and the outer round surface of its metallic cylindrical tube becomes less clearance to cooperate with the internal circular surfaces of hollow piezoelectric, and with glue they is sticked together.Compare other intellectual materials, piezoelectric hollow cylinder actuator is more suitable in the present invention as piezoelectric actuator.Voltage signal through the output of piezoelectric power amplifier produces electric field, and the inner positive and negative charge of piezoelectric ceramics center is relatively moved, the generation mechanically deform, and this distortion and input voltage have good linear relationship.Although the piezoelectric strain of piezoelectric relation is a multidimensional, several piezoelectric constants are arranged, select for use which piezoelectric constant if adopt the piezoelectricity hollow cylindrical structure, then to utilize d according to the working method decision of piezoelectric actuating implement body
31Produce displacement,, then only utilize d if adopt the structure of piezoelectric pile formula
33Produce displacement.Should select bigger piezoelectric strain constant to produce bigger displacement and to be used as power during specific implementation as far as possible.The displacement accuracy that the piezoelectricity tube shows at high band can make the combined type actuator have good control effect for the vibration signal of high band.
Claims (5)
1. combined wide-band actuator system, it is characterized in that: external voltage input signal (1) links to each other with signal input circuit (2), frequency divider (3) successively, and wherein frequency divider (3) output is divided into two branch roads; Article one, branch road links to each other with piezoelectric actuator through piezoelectric power amplifier (4); Another branch road links to each other with electromagnetic actuator through electromagnetic power amplifier (5); Above-mentioned piezoelectric actuator links to each other with output (8) with electromagnetic actuator output signal stack back.
2. a combined wide-band actuator comprises electromagnetic actuator, it is characterized in that: also be compounded with piezoelectric actuator on the output shaft of electromagnetic actuator; The connecting rod that links to each other with piezoelectric actuator (13) is as the total displacement output of this combined type actuator.
3. combined wide-band actuator according to claim 2 is characterized in that: the springs (12) that support and restitution also have been installed between the shell of piezoelectric actuator and combined wide-band actuator.
4. combined wide-band actuator according to claim 2 is characterized in that: described piezoelectric actuator is hollow cylinder piezoelectric actuator or piezoelectric stack.
5. combined wide-band actuator according to claim 2, it is characterized in that: described electromagnetic actuator by base (9), be installed on permanent magnet (15) on the base (9), with the soft magnetic bodies (16) of permanent magnet (15) positioned opposite, be installed on the coil windings (10) between permanent magnet (15) and the soft magnetic bodies (16), wherein coil windings (10) adopts coil brace (11) to support.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008102362707A CN101412020B (en) | 2008-11-19 | 2008-11-19 | Combined wide-band actuator system and actuator thereof |
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| CN2008102362707A CN101412020B (en) | 2008-11-19 | 2008-11-19 | Combined wide-band actuator system and actuator thereof |
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| CN101412020A CN101412020A (en) | 2009-04-22 |
| CN101412020B true CN101412020B (en) | 2010-12-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101863210B (en) * | 2010-06-02 | 2012-02-15 | 重庆大学 | Active suspension electromagnetic actuator of vehicle |
| CN103391028A (en) * | 2013-06-28 | 2013-11-13 | 西安交通大学 | Magnetism-piezoelectricity actuator based on triangular geometric displacement amplifying mechanism |
| CN104283460B (en) * | 2014-10-11 | 2017-04-05 | 北京工业大学 | Multi-direction vibrational energy harvester |
| CN105485246B (en) * | 2015-12-03 | 2017-08-04 | 哈尔滨工程大学 | A kind of passive double-layered isolator of master based on piezoelectric pile |
| CN114183493B (en) * | 2021-12-20 | 2023-03-21 | 西安交通大学 | Active and passive vibration isolation rod and active control sensing method |
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