CN108427445B - A kind of semi-active control aystem and method - Google Patents
A kind of semi-active control aystem and method Download PDFInfo
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- CN108427445B CN108427445B CN201810410073.6A CN201810410073A CN108427445B CN 108427445 B CN108427445 B CN 108427445B CN 201810410073 A CN201810410073 A CN 201810410073A CN 108427445 B CN108427445 B CN 108427445B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
Abstract
The invention discloses a kind of semi-active control aystem and methods.The system includes sensor array, controller and drive array, controller includes charge amplifier, first signal conditioning module, single chip control module, second signal conditioning module and high pressure amplifying, the connection of the output end of charge amplifier and sensor array, the connection of the output end of first signal conditioning module and charge amplifier, single chip control module is connect with the output end of the first signal conditioning module, the connection of the output end of second signal conditioning module and single chip control module, high pressure amplifying is connect with the output end of second signal conditioning module, drive array and the output end of high pressure amplifying connect.Using method or system of the invention, the multimodal vibration suppression for satellite being unfolded arm configuration may be implemented, improve control ability, simplify control system, the control time is shortened, the weight and volume of control system is reduced, is more able to satisfy requirement of the space structure to vibration control.
Description
Technical field
The present invention relates to control technology fields, more particularly to a kind of semi-active control aystem and method.
Background technique
With the continuous development of aerospace industry, enlargement, Low rigidity and the flexibility of spacecraft are current one important
Development trend.However, the spacecraft of flexible structure is than rigid due to the displacement or outer space environment complicated and changeable of spacecraft
Property structure spacecraft be more prone to produce vibration, and since the damping ratio of the spacecraft of flexible structure is usually lower, vibration one
Denier generates, and system oscillation die-away time is longer, causes spacecraft to can not work normally in a long time in this way.Therefore, spacecraft
Vibration control become more and more important.
Currently, the vibration control means of common spacecraft are passive control and the active control based on piezoelectric material, adopt
Carry out vibration control with spacecraft of the passive control means to large-size pliable structure, need external input energy, for example, increase every
Shake device, bump leveller equal controller, not only controls complexity, and the time needed is longer, control force is smaller, control effect
It is bad；And the active control based on piezoelectric material uses the sensor and actuator as system such as piezoelectric material, passes through acquisition
Control voltage is amplified by power amplifier and is loaded on piezoelectric material, the control by the control voltage that displacement signal generates
Means use power amplifier, cause the volume and weight for controlling equipment big, disagree with the demand of spacecraft.
Summary of the invention
Based on this, it is necessary to provide that a kind of control ability is strong and weight and volume that control system can be reduced half actively
Control system and method.
To achieve the above object, the present invention provides following schemes:
A kind of semi-active control aystem, the semi-active control aystem include sensor array, controller and driver battle array
Column；
The sensor array is fixed on the outer surface of satellite expansion arm configuration, for obtaining the more of satellite expansion arm configuration
Modal vibration information, the multiple modal vibrations information include the single mode vibration information in multiple directions, the single mode vibration
Information is bending vibration information or twisting vibration information；
The controller includes charge amplifier, the first signal conditioning module, single chip control module, second signal conditioning
Module and high pressure amplifying；
The charge amplifier is connect with the output end of the sensor array, for the single mode in either direction to be shaken
Dynamic information is converted to voltage signal；First signal conditioning module is connect with the output end of the charge amplifier, for pair
The voltage signal is improved, and obtains phase and the consistent sensing voltage signal of the arm configuration direction of motion is unfolded in satellite；It is described
Single chip control module is connect with the output end of first signal conditioning module, for being generated according to the sensing voltage signal
Switching signal and control voltage signal；The output end of the second signal conditioning module and the single chip control module connects
It connects, for improving the switching signal and the control voltage signal；The high pressure amplifying and described the
The output end of binary signal conditioning module connects, and for amplifying the control voltage signal after conditioning, generates control high voltage
Signal；
The drive array is fixed on the outer surface of satellite expansion arm configuration, and the drive array is pressed with the height
The output end connection of big module, for according to after the conditioning switching signal and the control high voltage signal generate and control
Power processed realizes the multimodal vibration suppression to satellite expansion arm configuration.
Optionally, the sensor array is made of multiple piezoelectric fibre composite material sensors, and the piezoelectric fabric is multiple
Condensation material sensor is prepared by small pieces piezoelectric fibre composite material.
Optionally, the piezoelectric fibre composite material sensor is fixed on ties in the root of satellite expansion arm configuration outer surface
Structure strains maximum position；The distribution mode of multiple piezoelectric fibre composite material sensors in the sensor array includes diameter
To in 90 ° of distributions and omnidirectional distribution in the axial direction, radial multiple piezoelectric fibre composite material sensors in 90 ° of distributions are used
Bending vibration information in acquisition multiple directions, multiple piezoelectric fibre composite materials of omnidirectional distribution sense in the axial direction
Device is used to acquire the twisting vibration information in multiple directions, and the bending vibration information is to pass through with the twisting vibration information
The charge signal that direct piezoelectric effect generates.
Optionally, the drive array is made of multiple piezoelectric fibre composite material drivers, and the piezoelectric fabric is multiple
Condensation material driver is prepared by large stretch of piezoelectric fibre composite material.
Optionally, the multiple piezoelectric fibre composite material driver is fixed on satellite expansion arm configuration surface except root
The maximum position of structural strain in addition；The distribution mode of multiple piezoelectric fibre composite material drivers in the drive array
Including radial in 90 ° of distributions and omnidirectional distribution in the axial direction, radial multiple piezoelectric fibre composite materials in 90 ° of distributions are driven
Dynamic device, which is used to generate, controls the control force that the bending vibration of arm configuration is unfolded in satellite in multiple directions, and orthogonal point in the axial direction
Multiple piezoelectric fibre composite material drivers of cloth are used to generate the torsion vibration of the control satellite expansion arm configuration in multiple directions
Dynamic control force.
Optionally, filter circuit, tune are respectively provided in first signal conditioning module and the second signal conditioning module
Circuitry phase, biasing circuit and amplifying circuit.
Optionally, the semi-active control aystem further includes data line, and the data line is described for connecting
Sensor array and the controller and it connect the drive array and the controller.
A kind of semi-active control method, the semi-active control method are used for semi-active control aystem, and described half actively controls
System processed includes sensor array, controller, drive array and data line, the controller include charge amplifier,
First signal conditioning module, single chip control module, second signal conditioning module and high pressure amplifying；Described half actively controls
Method processed, comprising:
Using the strain of sensor array perception satellite expansion arm configuration, the multimode of satellite expansion arm configuration is obtained
State vibration information, the multiple modal vibrations information include the single mode vibration information in multiple directions, the single mode vibration letter
Breath is bending vibration information or twisting vibration information；
Single mode vibration information in either direction is transmitted to the controller, the control through the data line
The single mode vibration information is converted to voltage signal by the charge amplifier in device；
First signal conditioning module improves the voltage signal received, obtains phase and satellite is unfolded
The consistent sensing voltage signal of the arm configuration direction of motion；
Whether the single chip control module is in pole according to the sensing voltage signal, to satellite expansion arm configuration displacement
Value is judged, when satellite expansion arm configuration displacement reaches extreme value, generates switching signal, and according to the big of displacement structure
Small generation controls voltage signal；
The second signal conditioning module improves the switching signal and the control voltage signal, and will
Signal after conditioning is transmitted to the high pressure amplifying；
The high pressure amplifying amplifies the control voltage signal, generates and controls high voltage signal, and according to
Switching signal and the control high voltage signal after conditioning control shaking in the drive array with the single mode
The corresponding driver in direction of dynamic information generates control force；
The control force is applied to satellite expansion arm configuration, realizes that the single mode to satellite expansion arm configuration vibrates control
System；
The control force that multiple drivers generate is applied to satellite expansion arm configuration by the drive array, by multiple
Single mode vibration control on direction carries out the mode of control coupling, realizes the multiple modal vibrations control to satellite expansion arm configuration
System.
Optionally, the switching signal according to after conditioning and the control high voltage signal control the driver
Array generates control force, specifically: the control that the drive array generates is controlled according to the switching signal after the conditioning
The direction of power processed；The size for the control force that the drive array generates is controlled according to the control high voltage signal.
Optionally, the switching signal according to after the conditioning controls the control force that the drive array generates
Direction, specifically: when satellite expansion arm configuration displacement reaches extreme value, the switching signal controls the high voltage amplifier
Closing the switch in module, by half of cycle of oscillation, so that the direction for the control that the drive array generates is closed with switch
The speed of satellite expansion arm configuration is contrary before closing, at this point, the switching signal controls the high pressure amplifying
In switch disconnect.
Compared with prior art, the beneficial effects of the present invention are:
The invention proposes a kind of semi-active control aystem and method, the semi-active control aystem includes sensor array
Column, controller and drive array, the single mode being decomposed into multiple modal vibrations information using sensor array on different directions
Vibration information realizes the decoupling between mode, and the side for the power for generating drive array by the way of semi- active control
It is reversed always to the direction that arm configuration speed is unfolded with satellite, by controlling the single mode vibration control in multiple directions
The mode of coupling realizes the multimodal vibration suppression to satellite expansion arm configuration, and not only control ability is strong, but also can simplify
Control system shortens the control time, moreover it is possible to reduce the weight and volume of control system, and sensor array and drive array
It is all made of piezoelectric fibre composite material, is more able to satisfy requirement of the space structure to vibration control.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structure chart of semi-active control aystem of the embodiment of the present invention；
Fig. 2 is the flow chart of semi-active control method of the embodiment of the present invention；
Fig. 3 is that displacement structure of the embodiment of the present invention, speed and sensing voltage signal distinguish time history plot；
Fig. 4 is the basic schematic diagram of semi-active control method of the embodiment of the present invention based on synchronous switch technology.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the structure chart of semi-active control aystem of the embodiment of the present invention.
Referring to Fig. 1, the semi-active control aystem of embodiment includes sensor array 1, controller 2 and drive array 3.
The sensor array 1 is strained maximum by the cementing root structure for being fixed on satellite expansion arm configuration outer surface
Position generates charge signal by direct piezoelectric effect for perceiving the strain of satellite expansion arm configuration, to obtain satellite expansion
The multiple modal vibrations information of arm configuration, the multiple modal vibrations information includes the single mode vibration information in multiple directions, described
Single mode vibration information is bending vibration information or twisting vibration information.
The sensor array 1 is made of multiple piezoelectric fibre composite material sensors, the piezoelectric fibre composite material
Sensor is prepared by small pieces piezoelectric fibre composite material, multiple piezoelectric fibre composite materials in the sensor array 1
The distribution mode of sensor includes radial in 90 ° of distributions and omnidirectional distribution in the axial direction, radial multiple pressures in 90 ° of distributions
Electric fibrous composite sensor is used to acquire the bending vibration information in multiple directions, and omnidirectional distribution is more in the axial direction
A piezoelectric fibre composite material sensor is for acquiring twisting vibration information in multiple directions, and the sensor array 1 is by multimode
State vibration information is decomposed into the single mode vibration information on multiple and different directions, realizes the decoupling between mode, convenient for control
Device 2 realizes the control vibrated to each channel single mode, and then simplified control system.
The controller 2 includes charge amplifier 4, the first signal conditioning module 5, single chip control module 6, second signal
Conditioning module 7 and high pressure amplifying 8；The charge amplifier 4 is defeated by data line and the sensor array 1
Outlet connection, for the single mode vibration information in either direction to be converted to voltage signal；First signal conditioning module 5
It is connect with the output end of the charge amplifier 4, for improving the voltage signal, obtains phase and arm is unfolded in satellite
The consistent sensing voltage signal in structure motion direction；The single chip control module 6 is defeated with first signal conditioning module 5
Outlet connection, for generating switching signal and control voltage signal according to the sensing voltage signal；The second signal
Conditioning module 7 is connect with the output end of the single chip control module 6, for the switching signal and control electricity
Pressure signal is improved, and first signal conditioning module 5 uses identical signal condition with second signal conditioning module 7
Be respectively provided in circuit, first signal conditioning module 5 and the second signal conditioning module 7 second order RC lowpass wave circuit,
Phase modulation circuit, biasing circuit and amplifying circuit are filtered signal, after phase modulation, biasing and amplification, so that the signal after conditioning
Voltage be maintained in the range of 0-3.3V；The output end of the high pressure amplifying 8 and the second signal conditioning module 7 connects
It connects, the high pressure amplifying 8 includes high voltage operational amplifier, and the high voltage operational amplifier believes the control voltage after conditioning
It number amplifies, generates control high voltage signal.
The drive array 3 is unfolded arm configuration outer surface structural strain is most in addition to root by the cementing satellite that is fixed on
Big position, the drive array 3 is connect with the output end of the high pressure amplifying 8, after according to the conditioning
Switching signal and the control high voltage signal generate control force, and the drive array 3 is compound by multiple piezoelectric fabrics
Material driver is constituted, and the piezoelectric fibre composite material driver is prepared by large stretch of piezoelectric fibre composite material, described
The distribution mode of multiple piezoelectric fibre composite material drivers in drive array 3 includes radial in 90 ° of distributions and in axial direction
Omnidirectional distribution on direction, radial multiple piezoelectric fibre composite material drivers in 90 ° of distributions are controlled in multiple directions for generating
The control force of the bending vibration of satellite expansion arm configuration processed, realizes the bending vibration control to satellite expansion arm configuration, in axial direction
Multiple piezoelectric fibre composite material drivers of omnidirectional distribution control satellite expansion arm knot for generating on direction in multiple directions
The control force of the twisting vibration of structure is realized to the Torsional Vibration Control of satellite expansion arm configuration, the bending in multiple directions is shaken
Dynamic and twisting vibration control effect is coupled, and realizes the multimodal vibration suppression to satellite expansion arm configuration.
In the present embodiment, the piezoelectric fibre composite material sensor and the piezoelectric fibre composite material driver are utilized
Piezoelectric coefficient d33Carry out electromechanical transformation, d33It is one of the most common important parameter for characterizing piezoelectric material performance, general piezoelectricity system
Number is higher, and piezoelectric property is better, d33Subscript in first digit refer to direction of an electric field, second digit refer to stress or
The direction of strain, " 33 " indicate that polarization direction is identical as force direction when measurement.
Semi-active control aystem in the present embodiment is powered using DC power supply.
Semi-active control aystem in the present embodiment not only avoids active control and needs lacking for huge energy supply system
Point, overcomes the deficiency of passive control poor robustness, and is particularly suitable for the requirement with the vibration control of space flight large-size pliable structure；
Multiple modal vibrations information is decomposed into bending vibration and torsion by the piezoelectric fibre composite material sensor by being arranged in different location
Rotational oscillation is dynamic, does not need to carry out accurate theoretical modeling to structure, is suitble to the vibration control of low-frequency band；By improve structural damping and
The mode of rigidity achievees the purpose that vibration control, reduces the quality of control system.
Fig. 2 is the flow chart of semi-active control method of the embodiment of the present invention.
Referring to fig. 2, a kind of semi-active control method of embodiment is used for semi-active control aystem, the semi- active control system
System include sensor array 1, controller 2, drive array 3 and data line, the controller include charge amplifier 4,
First signal conditioning module 5, single chip control module 6, second signal conditioning module 7 and high pressure amplifying 8；Described half is main
Flowing control method, comprising:
Step S1, it using the strain of sensor array perception satellite expansion arm configuration, obtains satellite and arm configuration is unfolded
Multiple modal vibrations information, the multiple modal vibrations information includes the single mode vibration information in multiple directions, the single mode
State vibration information is bending vibration information or twisting vibration information；
Step S2, the single mode vibration information in either direction is transmitted to the controller through the data line,
The single mode vibration information is converted to voltage signal by the charge amplifier in the controller；
Step S3, described first signal conditioning module improves the voltage signal received, obtain phase with
Satellite is unfolded arm configuration and moves the consistent sensing voltage signal in (displacement structure) direction, and Fig. 3 is displacement structure, speed and sensing
Voltage signal distinguishes time history plot, and a indicates that the curve that displacement structure changes over time, b indicate speed at any time
The curve of variation, c indicate the curve that sensing voltage signal changes over time, from the figure 3, it may be seen that displacement structure and sensing voltage signal
Always proportional；
Step S4, according to the sensing voltage signal, be displaced to satellite expansion arm configuration is the described single chip control module
It is no to be judged in extreme value, when satellite expansion arm configuration displacement reaches extreme value, switching signal is generated, and according to structure
The size of displacement generates control voltage signal；
Step S5, the described second signal conditioning module adjusts the switching signal and the control voltage signal
Reason, and the signal after conditioning is transmitted to the high pressure amplifying；
Step S6, the described high pressure amplifying amplifies the control voltage signal, generates control high voltage signal,
And according to after conditioning switching signal and it is described control high voltage signal control in the drive array with the list
The corresponding driver in the direction of modal vibration information generates control force, and the vibration information that single sensor obtains is single mode vibration
Information is moved, the sensor of different location obtains the single mode vibration information on different directions, drive array in sensor array
In the driver of different location generate control force corresponding with the direction of single mode vibration information respectively；
The switching signal according to after conditioning and the control high voltage signal control the drive array and produce
Raw control force, specifically: the control force that the drive array generates is controlled according to the switching signal after the conditioning
Direction controls the size for the control force that the drive array generates according to the control high voltage signal；
The switching signal according to after the conditioning controls the direction for the control force that the drive array generates,
Specifically: when satellite expansion arm configuration displacement reaches extreme value, the switching signal is controlled in the high pressure amplifying
Close the switch, by half of cycle of oscillation, so that the direction for the control that the drive array generates and closing the switch fashion
The contrary of the speed of arm configuration is unfolded in star, at this point, the switching signal controls opening in the high pressure amplifying
Shutdown is opened；
Step S7, the control for generating driver corresponding with the direction of single mode vibration information in the drive array
Power processed is applied to satellite expansion arm configuration, realizes the single mode vibration control to satellite expansion arm configuration；
Step S8, the control force that multiple drivers generate is applied to satellite expansion arm configuration by the described drive array, is led to
The mode for carrying out control coupling to the single mode vibration control in multiple directions is crossed, is realized to the multi-modal of satellite expansion arm configuration
Vibration control.
Satellite expansion arm configuration is located at the end of satellite structure, and in the present embodiment, arm configuration will be unfolded using suspension apparatus
Suspension controls the multi-modes vibration of expansion arm configuration.By taking single direction bending vibration as an example, when arm knot is unfolded in satellite
When structure vibrates near certain rank resonant frequency, electromechanical model can be carried out with the spring-mass damping system of single-degree-of-freedom
Description, it is assumed that all structures including piezoelectric element are linear elasticity, obtain the following differential equation by Newton's law:
Wherein, M is structure equivalent modalities quality, and Cs is the mechanical loss factor, KEFor the structure when piezoelectric element short circuit
Equivalent structure rigidity, u are modal mass displacement,Indicate the first derivative of displacement, i.e. speed,Indicate that the second order of displacement is led
Number, i.e. acceleration, FpFor the power acted in mechanical structure that piezoelectric element is generated by inverse piezoelectric effect, F is external exciting
Power；
If be embedded in controlled structure or when sticking piezoelectric element, mechanical-electric coupling equation are as follows:
Wherein, C is the clamped capacitance of piezoelectric element, and α is the power factor, and I is the electric current for flowing through piezoelectric element, and V indicates voltage,Indicate the first derivative of current versus time；
Multiply speed by (1) formula both sides are sameAnd to time integral, following derivation of energy formula can be obtained
The gross energy of inputIt include: kinetic energyElastic potential energy KEu2/ 2, mechanical energy consumptionAnd machine
Electricity conversion energy
Semi-active control method in the present embodiment is the semi-active control method based on synchronous switch technology, substantially former
Reason is as shown in figure 4, be unfolded sticking piezoelectric element (piezoelectric material) on arm configuration in satellite, in the two poles of the earth tandem tap of piezoelectric element
The electronic components such as SW and inductance L, by designing suitable switch control algorithm, when the induced voltage of piezoelectric element reaches extreme value
Closure switch, piezoelectric element and by-pass inductor constitute high frequency oscillation circuit, by half of cycle of oscillation (ts), so that piezoelectric patches
Voltage V and before closing the switch it is reversed, at this moment disconnect switch, referring to fig. 4, VMFor the voltage for being closed preceding piezoelectric patches ,-γ VMFor closure
The voltage of piezoelectric patches afterwards, γ indicate overturning efficiency, the power in this way generating not only piezoelectric element and the structure speed side of remaining
To on the contrary, and increase the amplitude of voltage on piezoelectric element, to improve electromechanical conversion efficiency, improve the electromechanics of system
Conversion energy, plays the effect of vibration control.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (6)
1. a kind of semi-active control aystem, which is characterized in that the semi-active control aystem include sensor array, controller and
Drive array；
The sensor array is fixed on the outer surface of satellite expansion arm configuration, for obtaining the multi-modal of satellite expansion arm configuration
Vibration information, the multiple modal vibrations information include the single mode vibration information in multiple directions, the single mode vibration information
For bending vibration information or twisting vibration information；The sensor array is made of multiple piezoelectric fibre composite material sensors,
The piezoelectric fibre composite material sensor is prepared by small pieces piezoelectric fibre composite material；The piezoelectric fibre composite material
The root structure that sensor is fixed on satellite expansion arm configuration outer surface strains maximum position；It is more in the sensor array
The distribution mode of a piezoelectric fibre composite material sensor includes radial in 90 ° of distributions and omnidirectional distribution in the axial direction, diameter
It is used to acquire the bending vibration information in multiple directions to multiple piezoelectric fibre composite material sensors in 90 ° of distributions, in axis
Multiple piezoelectric fibre composite material sensors of omnidirectional distribution are used to acquire the twisting vibration information in multiple directions on direction,
The bending vibration information and the twisting vibration information are the charge signal generated by direct piezoelectric effect；
The controller includes charge amplifier, the first signal conditioning module, single chip control module, second signal conditioning module
And high pressure amplifying；
The charge amplifier is connect with the output end of the sensor array, for the single mode in either direction to be vibrated letter
Breath is converted to voltage signal；
First signal conditioning module is connect with the output end of the charge amplifier, for adjusting to the voltage signal
Reason, obtains phase and the consistent sensing voltage signal of the arm configuration direction of motion is unfolded in satellite；
The single chip control module is connect with the output end of first signal conditioning module, for according to the sensing voltage
Signal generates switching signal and control voltage signal；
The second signal conditioning module is connect with the output end of the single chip control module, for believing the switching
Number and the control voltage signal improved；
The high pressure amplifying is connect with the output end of the second signal conditioning module, for the control voltage after improving
Signal amplifies, and generates control high voltage signal；
The drive array is fixed on the outer surface of satellite expansion arm configuration, the drive array and the high voltage amplifier mould
The output end of block connects, for according to the switching signal and control high voltage signal generation control force after conditioning, realization pair
The multimodal vibration suppression of satellite expansion arm configuration；The drive array is by multiple piezoelectric fibre composite material driver structures
At the piezoelectric fibre composite material driver is prepared by large stretch of piezoelectric fibre composite material；The multiple piezoelectric fabric
Composite material driver, which is fixed on, is unfolded the maximum position of arm configuration surface structural strain in addition to root in satellite；The driving
The distribution mode of multiple piezoelectric fibre composite material drivers in device array include it is radial in 90 ° of distributions and in the axial direction
Omnidirectional distribution, radial multiple piezoelectric fibre composite material drivers in 90 ° of distributions control satellite for generating in multiple directions
The control force of the bending vibration of arm configuration is unfolded, in the axial direction multiple piezoelectric fibre composite material drivers of omnidirectional distribution
For generating the control force for controlling the twisting vibration of satellite expansion arm configuration in multiple directions.
2. a kind of semi-active control aystem according to claim 1, which is characterized in that first signal conditioning module and institute
It states and is respectively provided with filter circuit, phase modulation circuit, biasing circuit and amplifying circuit in second signal conditioning module.
3. a kind of semi-active control aystem according to claim 1, which is characterized in that the semi-active control aystem further includes
Data line, the data line is for connecting the sensor array and the controller and connecting the driver
Array and the controller.
4. a kind of semi-active control method, which is characterized in that the semi-active control method is used for semi-active control aystem, described
Semi-active control aystem includes sensor array, controller, drive array and data line, and the controller includes charge
Amplifier, the first signal conditioning module, single chip control module, second signal conditioning module and high pressure amplifying；
The semi-active control method, comprising:
Using the strain of sensor array perception satellite expansion arm configuration, the multi-modal vibration of satellite expansion arm configuration is obtained
Dynamic information, the multiple modal vibrations information includes the single mode vibration information in multiple directions, and the single mode vibration information is
Bending vibration information or twisting vibration information；
Single mode vibration information in either direction is transmitted to the controller through the data line, in the controller
The charge amplifier single mode vibration information is converted into voltage signal；
First signal conditioning module improves the voltage signal received, obtains phase and arm knot is unfolded in satellite
The consistent sensing voltage signal of the structure direction of motion；
The single chip control module according to the sensing voltage signal, to the displacement of satellite expansion arm configuration whether in extreme value into
Row judgement generates switching signal, and the big abortion according to displacement structure when satellite expansion arm configuration displacement reaches extreme value
Raw control voltage signal；
The second signal conditioning module improves the switching signal and the control voltage signal, and will conditioning
Signal afterwards is transmitted to the high pressure amplifying；
The high pressure amplifying amplifies the control voltage signal, generates control high voltage signal, and according to conditioning
Switching signal and the control high voltage signal afterwards, which controls vibrating in the drive array with the single mode, to be believed
The corresponding driver in the direction of breath generates control force；
The control force is applied to satellite expansion arm configuration, realizes the single mode vibration control to satellite expansion arm configuration；
The control force that multiple drivers generate is applied to satellite expansion arm configuration by the drive array, by multiple directions
On single mode vibration control carry out control coupling mode, realize to satellite expansion arm configuration multimodal vibration suppression.
5. a kind of semi-active control method according to claim 4, which is characterized in that the switch according to after conditioning is cut
It changes signal and the control high voltage signal controls the drive array and generates control force, specifically:
The direction for the control force that the drive array generates is controlled according to the switching signal after the conditioning；According to described
Control high voltage signal controls the size for the control force that the drive array generates.
6. a kind of semi-active control method according to claim 5, which is characterized in that described according to opening after the conditioning
The direction that switching signal controls the control force that the drive array generates is closed, specifically:
When satellite expansion arm configuration displacement reaches extreme value, the switching signal controls opening in the high pressure amplifying
It closes and closes, by half of cycle of oscillation, so that the direction for the control that the drive array generates and satellite exhibition before closing the switch
The speed of open arms structure it is contrary, at this point, to control the switch in the high pressure amplifying disconnected for the switching signal
It opens.
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| GB1124702A (en) * | 1965-01-08 | 1968-08-21 | Bell Aerospace Corp | A closure assembly |
| CN103899704B (en) * | 2014-01-22 | 2015-11-18 | 安徽工程大学 | A kind of damping adjustable shock isolation platform with accurate zero stiffness |
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