CN103323098A - Small-sized micro-vibration measurement and control system - Google Patents
Small-sized micro-vibration measurement and control system Download PDFInfo
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- CN103323098A CN103323098A CN2013101958352A CN201310195835A CN103323098A CN 103323098 A CN103323098 A CN 103323098A CN 2013101958352 A CN2013101958352 A CN 2013101958352A CN 201310195835 A CN201310195835 A CN 201310195835A CN 103323098 A CN103323098 A CN 103323098A
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Abstract
The invention relates to a small-sized micro-vibration measurement and control system. The small-sized micro-vibration measurement and control system comprises a base, a load tray, folded beams, piezoelectric sensors, piezoelectric actuators and a data processing and control system. The folded beams comprise two cross beams, the upper surface and the lower surface of each cross beam are respectively provided with a layer of piezoelectric patch, the outer-layer piezoelectric patches are used as the piezoelectric actuators, and the inner-layer piezoelectric patches are used as the piezoelectric sensors. The folded beams are arranged between the load tray and the base and connected with the load tray and the base through bolts in a pressed mode. The four folded beams are evenly distributed on the lower surface of the load tray along the periphery, and the eight piezoelectric sensors distributed on the folded beams can measure three dynamic forces and three dynamic bending moments of a load disturbance source. After signals measured by each piezoelectric sensor are processed by the data processing and control system, specific control voltage is output to the piezoelectric actuators which are arranged in parallel with the piezoelectric sensors, and therefore load vibration can be restrained. The small-sized micro-vibration measurement and control system can effectively measure load vibration and restrain transmission of load vibration, and is high in reliability.
Description
Technical field
The present invention relates to a kind of small-sized microvibration measuring and control system, can be used for the vibration signal of spacecraft component tiny perturbation load on six-freedom degree carried out kinetic measurement and suppress the transmission of its vibration.
Background technology
Present spacecraft all belongs to large-scale flexible expansion mechanism mostly, and with a large amount of optical elements, they have all proposed very high requirement to pointing accuracy and degree of stability.In addition, in modern spacecraft attitude control system, reaction wheel, single frame moment gyro and sun wing driving mechanism etc. are the critical elements in its control system, they are in the control power that necessity is provided, also can cause some nuisance vibrations (for the sake of simplicity, the below is referred to as disturbing source with above-mentioned three kinds of systems).These disturbances are mainly caused by flywheel imbalance, bearing disturbance, motor disturbance, motor-driven error etc., wherein the flywheel imbalance is the main reason that causes the flywheel vibration, these disturbing forces and disturbing moment can reduce the performance index of accuracy instrument in the body space, therefore measure and analyze the dynamic perfromance of spacecraft useful load disturbance and its vibration is controlled, for the attitude control accuracy that improves spacecraft and the safe design of strengthening spacecraft very important engineering significance is arranged.
Because the disturbance of spacecraft disturbing source is very little, indivedual useful load such as momenttum wheel be three faint disturbances that direction can only produce tens milli newton even a few milli newton in the space, want in the ground experiment chamber with relatively strong jamming pattern noise, to measure and to control this type of disturbance very difficult, and its respective sensor the accuracy requirement of actuator very high.
At present, there is not yet the reported in literature of relevant this type of microvibration measurement and control system both at home and abroad.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, a kind of small-sized little vibration control system is provided, in the spacecraft component operational process, suppress its vibration in the transmission in space, with the attitude control accuracy that improves spacecraft and the safe design of strengthening spacecraft.
The present invention will solve the technical scheme that its technical matters adopts: a kind of small-sized microvibration measuring and control system comprise: base, loading disk, four folded beams, eight piezoelectric sensors, eight piezoelectric actuators, 16 bolts, eight through holes and data PIAPACS; Load is installed in the upper surface of loading disk; Each piezoelectricity folded beam includes two crossbeams, two piezoelectric sensors and two piezoelectric actuators; The piezoelectricity folded beam is between base upper surface and loading disk lower surface, and along loading disk lower surface circumference uniform distribution, the piezoelectricity folded beam is connected by 16 bolts and loading disk and base; Piezoelectricity folded beam entablature is vertical with the space Z axis, and two adjacent folded beams are orthogonal; Two piezoelectric sensors are pasted in each piezoelectricity folded beam inboard, can measure the force and moment of X, Y and Z direction; Each piezoelectricity folded beam outside is stained with two piezoelectric actuators, is used for accepting the output signal of data PIAPACS and produces the inhibition system vibration that is used as power.After vibration source or load produce vibration, eight piezoelectric sensors can record vibration signal and input the data PIAPACS with voltage form, the data PIAPACS with certain gain with the anti-phase amplification of input signal and output to corresponding piezoelectric actuator, the final transmission that realizes suppressing the load vibration.
Described eight piezoelectric sensors, eight piezoelectric actuators are d
31The type piezo ceramic element.
Described loading disk be shaped as circle, eight counter sinks are arranged in order to connect the piezoelectricity folded beam on it, four bolt holes are in order to connect load.
Described eight piezoelectric sensors are symmetrically distributed on the piezoelectricity folded beam inside surface.
Described eight piezoelectric actuators are symmetrically distributed on the piezoelectricity folded beam outside surface.
Described base is square frame, and four arc notch are arranged on the inside edge, has eight counter sinks to be used for connecting the piezoelectricity folded beam on the framework, and four bolt holes are used for being connected and fixed end.
The two pairs of piezoelectric sensors in each piezoelectricity folded beam and piezoelectric actuator contraposition juxtaposition (being that each piezoelectric sensor is arranged symmetrically with along the crossbeam upper and lower surface with a piezoelectric actuator) have shortened system response time, have improved control performance.
This system can be used as sensor and uses when not exporting control signal, realize vibration survey; When the output control signal, use as controller, realize vibration suppression.
The present invention compared with prior art has the following advantages:
(1) the present invention's transmission that effectively sensing lead vibrates and the inhibition load is vibrated, reliability is high; And the present invention can be used as sensor in control system and uses when not exporting control signal, realizes the micro-vibration signal measurement; When the output control signal, use as controller, realize vibration suppression.
(2) the two pairs of piezoelectric sensors in each the piezoelectricity folded beam among the present invention and piezoelectric actuator are pasted on respectively the upper and lower surface of crossbeam, when causing beam deformation owing to load disturbance, phase differential as the voltage signal that produces on the piezoelectric ceramic piece of Sensor and actuator remains unchanged, can directly use feedback rate control to realize vibration control, engineering is comparatively simple on using.
(3) control device separates with load among the present invention, need to optional equipment and sensor be installed in load, does not affect the dynamic perfromance of load, can not damage support structures.
(4) each piezoelectric sensor and a piezoelectric actuator contraposition juxtaposition among the present invention, the piezoelectric sensor signal is directly exported to piezoelectric actuator by control system after anti-phase amplification, simplify control flow, shortened system response time, improved control performance.
(5) vibration control apparatus volume of the present invention is small and exquisite, and installation form is flexible, can be applied to easily multiple occasion, has improved the applicability of control system.
Description of drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is loading disk structural representation among the present invention;
Fig. 3 is understructure schematic diagram among the present invention;
Fig. 4 is single order modal response contrast before and after the control of the lower system of simple harmonic quantity power excitation.
Number in the figure: 1, four base plate through holes 7 of four loading disk through holes, fastening bolt 2,3, four folded beams 4 of loading disk, piezoelectric actuator 5, base 6, piezoelectric sensor 8, crossbeam 9, data PIAPACS 10.
Embodiment
As shown in Figure 1, 2, 3, a kind of small-sized microvibration measuring of the present invention and control system comprise: four loading disk through holes 1, fastening bolt 2, loading disk 3, four folded beams 4, piezoelectric actuator 5, base 6, four base plate through holes 7, piezoelectric sensor 8, crossbeam 9 and data PIAPACS 10; Piezoelectric actuator 5 and piezoelectric sensor 8 are d
31The type piezo ceramic element, loading disk 3 is circular, as shown in Figure 2, eight counter sinks are arranged in order to connect 4, four piezoelectricity folded beams 4 of piezoelectricity folded beam between base 6 upper surfaces and loading disk 3 lower surfaces on it, lower surface circumference uniform distribution along loading disk 3, base 6 is square frame, sees shown in the accompanying drawing 3, and four arc notch are arranged on its inside edge, there are eight heavy through holes to be used for connecting 4, four base plate through holes 7 of piezoelectricity folded beam on the framework and are used for being connected and fixed end; The input of the output of eight piezoelectric sensors 8 and eight piezoelectric actuators 5 links to each other with data PIAPACS 10 by signal transmssion line.
Should be installed on the ground by little vibration control system, with the little vibration source of load be installed in loading disk 3 in the heart, whether the signal that checks the piezoelectric sensor 8 on four folded beams 4 is normal, and check that piezoelectric actuator 5 responds, running load afterwards, make it produce vibration, thereby make eight piezoelectric sensors 8 produce voltage signal, voltage signal can be converted into three small sample perturbations force signals and three small sample perturbations torque signals according to the power of piezoelectric-electric transformational relation after processing by data PIAPACS 10, and piezoelectric power-electric transformational relation is as follows:
D wherein
iBe electric displacement, σ is stress, and ε is strain, E
fElectric field,
Specific inductive capacity under the Chang Yingli,
Be material flexibility under zero electric field, d is piezoelectric constant, i, and j=1,2,3 and p, q=1,2 ..., different direction under the 6 expression material coordinate systems is got i=3, p=1 in the invention process.When being used for the vibration control of load, data PIAPACS 10 is crossed linear quadratic optimum (LQR) (or other control methods) control rate output control voltage signal to piezoelectric actuator 5 according to the disturbing force information exchange that collects, thereby actuator 5 can produce to be used as power accordingly and acts on load and realized control to the load vibration.The two pairs of piezoelectric sensors in the native system in each piezoelectricity folded beam 4 and piezoelectric actuator lay respectively at the upper and lower surface of crossbeam 9, when causing the Ji Liang distortion owing to load disturbance, phase differential as the voltage signal that produces on the piezoelectric ceramic piece of Sensor and actuator remains unchanged, can directly use feedback rate control to realize vibration control, therefore shorten System response time, improved control performance.In addition, control device separates with controlled test specimen among the present invention, need to optional equipment and sensor be installed at controlled test specimen, do not affect the dynamic perfromance of test specimen, can not damage the test specimen structure, can be applied to easily multiple occasion, have very strong applicability.
If this system is only as piezoelectric sensor, because what obtain by data acquisition processing system is the voltage signal of piezoelectric sensor 8, voltage signal to be converted to force signal, also need piezoelectric sensor 8 is demarcated, obtain corresponding sensitivity coefficient, can obtain the force signal of useful load after itself and voltage signal are multiplied each other.
Data are processed with control system 10 and are comprised of data acquisition device, computing machine and power amplifier, data acquisition device is converted into digital signal with the voltage signal that piezoelectric sensor 8 obtains, and be input in the computing machine by data line, computing machine is analyzed digital signal and computing, can obtain the signal of microvibration power, power amplifier is with the amplification of computer export signal and output to piezoelectric actuator 5.
Fig. 4 provides the analogous diagram of system's control, the load of 10kg is installed and applies a simple harmonic quantity disturbing force at vertical direction at loading disk, the frequency of this disturbing force is identical with the system fundamental frequency, found out by system's single order modal displacement shown in Figure 4 response before and after control, system can obviously suppress system resonance after applying control, the control successful.
Although the above is described the illustrative embodiment of the present invention; so that the technician of present technique neck understands the present invention; but should be clear; the invention is not restricted to the scope of embodiment; to those skilled in the art; as long as various variations appended claim limit and the spirit and scope of the present invention determined in, these variations are apparent, all utilize innovation and creation that the present invention conceives all at the row of protection.
Claims (7)
1. a small-sized microvibration measuring and control system is characterized in that comprising: base (6), loading disk (3), four folded beams (4), data PIAPACS (10); Described folded beam (4) includes two crossbeams (9), and the upper and lower surface of each crossbeam (9) is pasted one deck piezoelectric patches, and outer piezoelectric patches is as piezoelectric actuator (5), and the internal layer piezoelectric patches is as piezoelectric sensor (8); Described folded beam (4) is positioned between loading disk (3) and the base (6), compresses by bolt (2) to connect; Four folded beams (4) are uniformly distributed along the circumference at loading disk (3) lower surface, and load connects firmly by the through hole (1) on the loading disk (3) and loading disk (3), and base (6) connects with stiff end by through hole (7); When the sensor, eight piezoelectric sensors (8) are measured the voltage signal of three dynamic force of load and three dynamic bending moment directions and it are transferred to data and process and control system (10) the treated information that obtains six disturbing forces; During as controller, the signal that each piezoelectric sensor records is after data PIAPACS (10) is processed, based on the disturbing force information that records, data PIAPACS (10) will send voltage signal is used as power its generation to corresponding piezoelectric actuator (5), thereby realizes the inhibition to the load vibration.
2. small-sized microvibration measuring according to claim 1 and control system, it is characterized in that: described eight piezoelectric sensors (8), eight piezoelectric actuators (5) are d
31The type piezo ceramic element.
3. small-sized microvibration measuring according to claim 1 and control system is characterized in that: described loading disk (3) be shaped as circle, eight counter sinks are arranged in order to connect piezoelectricity folded beam (4) on it, four bolt holes (1) are in order to connect load.
4. small-sized microvibration measuring according to claim 1 and control system, it is characterized in that: described eight piezoelectric sensors (8) are symmetrically distributed on piezoelectricity folded beam (4) inside surface.
5. small-sized microvibration measuring according to claim 1 and control system, it is characterized in that: described eight piezoelectric actuators (5) are symmetrically distributed on piezoelectricity folded beam (4) outside surface.
6. small-sized microvibration measuring according to claim 1 and control system, it is characterized in that: described base (6) is square frame, four arc notch are arranged on the inside edge, have eight countersunk head through holes to be used for connecting piezoelectricity folded beam (4) on the framework, four bolt holes (7) are used for being connected and fixed end.
7. small-sized microvibration measuring according to claim 1 and control system, it is characterized in that: the two pairs of piezoelectric sensors (8) in described each piezoelectricity folded beam (4) and piezoelectric actuator (5) contraposition juxtaposition, can shorten system response time, improve control performance.
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Cited By (9)
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| CN103471705A (en) * | 2013-09-26 | 2013-12-25 | 北京空间飞行器总体设计部 | Ultra-low frequency six-component micro-vibration measurement system |
| CN103499387A (en) * | 2013-09-26 | 2014-01-08 | 北京空间飞行器总体设计部 | Micro-vibration signal processing method |
| CN105466655A (en) * | 2015-11-13 | 2016-04-06 | 北京理工大学 | Loading device and loading method for measuring micro vibration characteristic of structure |
| CN105717931A (en) * | 2016-01-28 | 2016-06-29 | 中国人民解放军国防科学技术大学 | Active and passive integrated micro-vibration isolation device for reaction flywheel |
| CN105857642A (en) * | 2016-04-13 | 2016-08-17 | 中国人民解放军国防科学技术大学 | Folding beam structure-based multi-degree of freedom passive vibration isolation device for spacecraft flywheel |
| CN109990888A (en) * | 2019-03-25 | 2019-07-09 | 中国科学院长春光学精密机械与物理研究所 | A kind of wide range power measuring mechanism |
| CN112014008A (en) * | 2020-07-28 | 2020-12-01 | 北京电子工程总体研究所 | Three-dimensional force sensor and force measurement system |
| CN112113733A (en) * | 2020-10-14 | 2020-12-22 | 中国航空工业集团公司北京长城计量测试技术研究所 | Surface-fixed type prestress controllable vibration excitation method and device |
| CN113513559A (en) * | 2021-05-13 | 2021-10-19 | 上海大学 | Stewart vibration isolation platform based on MFC positive and negative piezoelectric effect |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103471705A (en) * | 2013-09-26 | 2013-12-25 | 北京空间飞行器总体设计部 | Ultra-low frequency six-component micro-vibration measurement system |
| CN103499387A (en) * | 2013-09-26 | 2014-01-08 | 北京空间飞行器总体设计部 | Micro-vibration signal processing method |
| CN105466655A (en) * | 2015-11-13 | 2016-04-06 | 北京理工大学 | Loading device and loading method for measuring micro vibration characteristic of structure |
| CN105717931A (en) * | 2016-01-28 | 2016-06-29 | 中国人民解放军国防科学技术大学 | Active and passive integrated micro-vibration isolation device for reaction flywheel |
| CN105857642A (en) * | 2016-04-13 | 2016-08-17 | 中国人民解放军国防科学技术大学 | Folding beam structure-based multi-degree of freedom passive vibration isolation device for spacecraft flywheel |
| CN109990888A (en) * | 2019-03-25 | 2019-07-09 | 中国科学院长春光学精密机械与物理研究所 | A kind of wide range power measuring mechanism |
| CN112014008A (en) * | 2020-07-28 | 2020-12-01 | 北京电子工程总体研究所 | Three-dimensional force sensor and force measurement system |
| CN112113733A (en) * | 2020-10-14 | 2020-12-22 | 中国航空工业集团公司北京长城计量测试技术研究所 | Surface-fixed type prestress controllable vibration excitation method and device |
| CN112113733B (en) * | 2020-10-14 | 2022-03-29 | 中国航空工业集团公司北京长城计量测试技术研究所 | Surface-fixed type prestress controllable vibration excitation method and device |
| CN113513559A (en) * | 2021-05-13 | 2021-10-19 | 上海大学 | Stewart vibration isolation platform based on MFC positive and negative piezoelectric effect |
| CN113513559B (en) * | 2021-05-13 | 2022-11-29 | 上海大学 | Stewart vibration isolation platform based on MFC positive and negative piezoelectric effect |
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